移动机器人的路径规划与控制研究
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摘要
移动机器人的研究是近年来发展迅猛的一个领域，移动机器人已经越来越广泛的应用于工业、农业、军事、教育等人类社会的各个方面。本文研究了全局环境未知且存在动态障碍物情况上的机器人的路径规划问题。具体工作有：
1．研究了机器人的运动学模型，建立了超声波传感器系统。介绍了移动机器人的控制系统模型。
2．对多输入多输出系统进行动态扩展，得到单输入单输出系统。对于一类常见的单输入单输出的非线性系统，利用超稳定性理论来设计自适应模糊控制控制器。
3．利用聚类分析算法对传感器所获得的信息进行障碍物的分离，并对动态障碍物与静止障碍物进行了分离。采用最小二乘参数估计的递推算法来预测动态障碍物的运动轨迹。
4．对移动机器人的路径规划的设计，研究了移动机器人的轨迹跟踪问题，并提出了一种基于圆轨迹的避障算法。
The research mobile of robot has made large progress in recent years. Mobile robot has been applied in industry, agriculture, military, education and so on. This paper mainly research problem that path planning of mobile robot in global unknown environment with moving obstacles. The main of contributions are given as follows:
1. Studied mobile robot kinematical model, a system of ultrasonic sensor was presented. A control system model of mobile robot was presented.
2. Multi-input multi-output system was dynamic Spread, and singular-input singular-output system was obtained. By using Popov's hyperstatic theory, an adaptive fuzzy controller is proposed to control a class of singular-input singular-output nonlinear system.
3. With information which sensor obtained, cluster approach was used to separate dynamic objects and static objects. Using the estimate of least squares to arithmetic forecast kinematical trajectory of dynamic objects.
4. Designed the path planning of a mobile robot. The trajectory tracking control problem of a mobile robot is discussed. An obstacle avoidance method based on circle locus is put forward.
1．研究了机器人的运动学模型，建立了超声波传感器系统。介绍了移动机器人的控制系统模型。
2．对多输入多输出系统进行动态扩展，得到单输入单输出系统。对于一类常见的单输入单输出的非线性系统，利用超稳定性理论来设计自适应模糊控制控制器。
3．利用聚类分析算法对传感器所获得的信息进行障碍物的分离，并对动态障碍物与静止障碍物进行了分离。采用最小二乘参数估计的递推算法来预测动态障碍物的运动轨迹。
4．对移动机器人的路径规划的设计，研究了移动机器人的轨迹跟踪问题，并提出了一种基于圆轨迹的避障算法。
The research mobile of robot has made large progress in recent years. Mobile robot has been applied in industry, agriculture, military, education and so on. This paper mainly research problem that path planning of mobile robot in global unknown environment with moving obstacles. The main of contributions are given as follows:
1. Studied mobile robot kinematical model, a system of ultrasonic sensor was presented. A control system model of mobile robot was presented.
2. Multi-input multi-output system was dynamic Spread, and singular-input singular-output system was obtained. By using Popov's hyperstatic theory, an adaptive fuzzy controller is proposed to control a class of singular-input singular-output nonlinear system.
3. With information which sensor obtained, cluster approach was used to separate dynamic objects and static objects. Using the estimate of least squares to arithmetic forecast kinematical trajectory of dynamic objects.
4. Designed the path planning of a mobile robot. The trajectory tracking control problem of a mobile robot is discussed. An obstacle avoidance method based on circle locus is put forward.
引文
[1] Khatib, O, Real time Obstacle Avoidance for Manipulators and mobile robot, International Journal on Robotics Research, Vol.5, No.1, pp90-99,1986.
[2] Borenstein. J.and Y, Koren, The vector field histogram—fast obstacle avoidance for mobile robots, IEEE Transactions on Robotics and Automation, Vol.7,No. 3,June, 1991, pp278-288.
[3] Hu. H, and M.Brady, A Bayesian approach to real-time obstacle avoidance for a mobile robot, Autonomous robots, Vol, 1, pp69-92,Kluwer Academic Publishers, Boston, 1994.
[4] Song, K. T. and C,C.Chang, Reactive Navigation in dynamic environment using a multisensor predictor, IEEE Transactions on systems, Man and cybernetic-part B: Cybernetics, Vol.29, No.6, December, 1999, pp870-880
[5] Piasecki. M, Distributed perception for reactive. navigation, Proceedings of the first euromicro workshop on advanced mobile robot, 9—11 Oct, 1996, pp99-106.
[6] Davesne, F. Reactive navigation of a mobile robot using a hierarchical set of learning agents, Proceedings of the 1999 IEEE/RSJ International conference on intelligent robots and systems, Vol.1,17-21 Oct,1999, pp482—487.
[7] Zadch L. A. Fuzzy sets, information and control, vol.8, 1965, pp.338—353.
[8] Sugeno, M. and M. Nishida, Fuzzy control of model car, Fuzzy sets and systems 16(1985)103-113
[9] Song, K. T. and J.C.Tai, Fuzzy navigation of a mobile robot, Proceedings
of the 1992 IEEE/RSJ International Conference on Intelligent robots and systems, Raleigh, NC, July 7-10, 1992, Vol.1, pp621-627.
[10] Buckley JJ, Universal fuzzy controllers. Automatica. 1992, 28(6): 1245-1248
[11] Miller W T, Real-time application of neural networks for sensor-based control of robots with vision. IEEE Trans. Systems, Man, and Cybernetics, 1989, 19(4): pp825-831
[12] Gherari Z, Hamam Y, Backpropagation neurofuzzy controller for nonlinear dynamic system.. IEEE Int. Conf. Fuzzy systems, 1996: pp1178-1183
[13] Slotine. J. J E, Li W, On the adaptive control of robot manipulators, Int. J. Robotics Res. 1987, 6(3)
[14] 胡跃明，周其节，分布参数变结构控制系统，国防工业出版社，1996
[15] 王莉．钟竞．闫保定．韩希骅，机器人变结构自适应控制的研究，机器人，1995，17(3)：164-170
[16] 费敏锐，陈伯时，郎文鹏．智能控制方法的交叉综合及其应用，控制理论与应用，1996，13(3)：273—281
[17] 徐建闽，陈伯时．张光海，周其节，机器人的控制问题与方法，(中国第五届机器人学术会议论文集，哈尔滨，1997)，哈尔滨工业大学出版社，1997
[18] 李磊，叶涛，谭民，陈细军，移动机器人技术研究现状与未来，机器人，2002．9，第2卷，第5期
[19] 日本机器人学会，宗光华，刘海波，程君实译，机器人技术手册，科学出版社，1996
[20] Kolmanovsky I and McCalmroch N H, Developments in nonholonomic control problems[J], IEEE Control Systems, 1995, 15(12): 20-36
[21] 夏小华，高为炳，《非线性系统控制及解耦》，科学出版社，1993
[22] 胡跃明，《非线性控制系统理论与应用》，国防工业出版社，2002
[23] 王立新，自适应模糊系统与控制—设汁与稳定性分析，国防工业出版社，1995．10
[24] 陈立新，李言俊，周军，自适应控制及应用，西北工业大学出版社，2000．4
[25] 赵明洁，杨莹春，诸静．基于Popov稳定性理论的模糊自适应控制器设计方法，自动化学报．2001．Vol27(3)：pp406—410
[26] 薛定宇，陈阳泉，《基于MATLAB／Simulink的系统仿真技术及应用》清华大学出版社，2002
[27] 诸静，模糊控制原理与应用，机械工业出版社，2001
[28] 李金宗，模式识别导论，高等教育出版社，1994
[29] Raghu Krishnapuram, Fitting an unknown numer of lines and planes to image data through compatible cluster merging, Pattern recognition, Vol 25, No.4,pp.385-400, 1992
[30] E. Diday, A. Schroeder and Y. Ok, The dynamic clusters method in pattern recognition, Proc. Int. Federation for Information processing congress, P.691. American Elsevier, north Holland, New York(1974)
[31] 方崇智，萧德云，过程辨识，清华大学出版社，2003
[32] 张有为，预测的数学方法，国防工业出版社，1991
[33] 郑伟，徐洪泽，李士勇，张福恩，基于波波夫稳定判据的模糊控制器系统化设计方法，控制理论与应用，2002，vol19(4)：pp．644-646
[34] T. Lozano-perez and M. A Wesley, "An algorithm for planning collision-free paths among the polyhedral obstacles." Communications of the ACM, vol. 22, no. 10, pp. 560-570, Oct.1979
[35] O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots." Int. J. of Robotics Research, vol. 5,no. 1, pp.99-98, Spring 1986
[36] H. R Beom and H.S.Cho, "Path planning for mobile robot using skeleton of free space," in Proc. IFAC Symp, Information Control Problems for
Manufacturing(Toronto. Canada, May 25—28 1992), pp.509-513
[37] 董立志，孙茂相，朱枫，基于实时避障物预测的机器人运动规划，机器人，2001，vol22(3)pp12-16
[38] K. Madhava Krishna, Prem K. Kalra Dection, Tracking and Avoidance of Multiple Dynamic Objects, Journal of Intelligent and Robotic Systems 33: 371-408. 2002
[39] Fujimura, A., Teramoto, M., Nikiforuk, P. N. and Gupta, M. M.: Cooperative coillision avoidance between multiple mobile robots, J. Robotic Systems 17(7)(2000), pp374-363
[40] Chow Ka Ming, Jimmy, Fuzzy modeling and behaviour liarning of autonomous mobile robots. The Hong Kong: Polytechnic University, 2001
[41] Stripurr Thongchai, Inteiligent contrl and learning techniques for mobile robots, graduate school of Vanderbiit university, 2001
[42] Hee PaK Beom, Hyung Suck Cho, A sensor-based navigation for a mobile robot using fuzzy logic and reinforcement learning, IEEE Transeations on systems, man and cyberneics, Vol. 25, No.3, march 1995
[43] Johann Borenstein, Yorem Koren, Real-time obstacle avoidance for fast moblie robots, IEEE. Transactions on systems, Man and cybernetics, vol. 19, No.5, Septelnber, 1989
[44] 任华瑛，胡跃明，池瑞楠，基于遗传算法的最优模糊控制器在非完整移动机器人轨迹跟踪中的应用，机器人，2000，vol21(3)pp72-76
[45] 李世华，田玉平，非完整移动机器人的轨迹跟踪控制，控制与决策，2002，vol17(3)pp301-305
[46] 张纯刚，席裕庚，动态位置环境中移动机器人的滚动路径规划，机器人，2002，vol24(1)：pp71-75
[47] 袁曾任，高明，在动态环境中移动机器人导航和避碰的一种新方法，机器人，2000，vol．22(2)：pp81-87
[2] Borenstein. J.and Y, Koren, The vector field histogram—fast obstacle avoidance for mobile robots, IEEE Transactions on Robotics and Automation, Vol.7,No. 3,June, 1991, pp278-288.
[3] Hu. H, and M.Brady, A Bayesian approach to real-time obstacle avoidance for a mobile robot, Autonomous robots, Vol, 1, pp69-92,Kluwer Academic Publishers, Boston, 1994.
[4] Song, K. T. and C,C.Chang, Reactive Navigation in dynamic environment using a multisensor predictor, IEEE Transactions on systems, Man and cybernetic-part B: Cybernetics, Vol.29, No.6, December, 1999, pp870-880
[5] Piasecki. M, Distributed perception for reactive. navigation, Proceedings of the first euromicro workshop on advanced mobile robot, 9—11 Oct, 1996, pp99-106.
[6] Davesne, F. Reactive navigation of a mobile robot using a hierarchical set of learning agents, Proceedings of the 1999 IEEE/RSJ International conference on intelligent robots and systems, Vol.1,17-21 Oct,1999, pp482—487.
[7] Zadch L. A. Fuzzy sets, information and control, vol.8, 1965, pp.338—353.
[8] Sugeno, M. and M. Nishida, Fuzzy control of model car, Fuzzy sets and systems 16(1985)103-113
[9] Song, K. T. and J.C.Tai, Fuzzy navigation of a mobile robot, Proceedings
of the 1992 IEEE/RSJ International Conference on Intelligent robots and systems, Raleigh, NC, July 7-10, 1992, Vol.1, pp621-627.
[10] Buckley JJ, Universal fuzzy controllers. Automatica. 1992, 28(6): 1245-1248
[11] Miller W T, Real-time application of neural networks for sensor-based control of robots with vision. IEEE Trans. Systems, Man, and Cybernetics, 1989, 19(4): pp825-831
[12] Gherari Z, Hamam Y, Backpropagation neurofuzzy controller for nonlinear dynamic system.. IEEE Int. Conf. Fuzzy systems, 1996: pp1178-1183
[13] Slotine. J. J E, Li W, On the adaptive control of robot manipulators, Int. J. Robotics Res. 1987, 6(3)
[14] 胡跃明，周其节，分布参数变结构控制系统，国防工业出版社，1996
[15] 王莉．钟竞．闫保定．韩希骅，机器人变结构自适应控制的研究，机器人，1995，17(3)：164-170
[16] 费敏锐，陈伯时，郎文鹏．智能控制方法的交叉综合及其应用，控制理论与应用，1996，13(3)：273—281
[17] 徐建闽，陈伯时．张光海，周其节，机器人的控制问题与方法，(中国第五届机器人学术会议论文集，哈尔滨，1997)，哈尔滨工业大学出版社，1997
[18] 李磊，叶涛，谭民，陈细军，移动机器人技术研究现状与未来，机器人，2002．9，第2卷，第5期
[19] 日本机器人学会，宗光华，刘海波，程君实译，机器人技术手册，科学出版社，1996
[20] Kolmanovsky I and McCalmroch N H, Developments in nonholonomic control problems[J], IEEE Control Systems, 1995, 15(12): 20-36
[21] 夏小华，高为炳，《非线性系统控制及解耦》，科学出版社，1993
[22] 胡跃明，《非线性控制系统理论与应用》，国防工业出版社，2002
[23] 王立新，自适应模糊系统与控制—设汁与稳定性分析，国防工业出版社，1995．10
[24] 陈立新，李言俊，周军，自适应控制及应用，西北工业大学出版社，2000．4
[25] 赵明洁，杨莹春，诸静．基于Popov稳定性理论的模糊自适应控制器设计方法，自动化学报．2001．Vol27(3)：pp406—410
[26] 薛定宇，陈阳泉，《基于MATLAB／Simulink的系统仿真技术及应用》清华大学出版社，2002
[27] 诸静，模糊控制原理与应用，机械工业出版社，2001
[28] 李金宗，模式识别导论，高等教育出版社，1994
[29] Raghu Krishnapuram, Fitting an unknown numer of lines and planes to image data through compatible cluster merging, Pattern recognition, Vol 25, No.4,pp.385-400, 1992
[30] E. Diday, A. Schroeder and Y. Ok, The dynamic clusters method in pattern recognition, Proc. Int. Federation for Information processing congress, P.691. American Elsevier, north Holland, New York(1974)
[31] 方崇智，萧德云，过程辨识，清华大学出版社，2003
[32] 张有为，预测的数学方法，国防工业出版社，1991
[33] 郑伟，徐洪泽，李士勇，张福恩，基于波波夫稳定判据的模糊控制器系统化设计方法，控制理论与应用，2002，vol19(4)：pp．644-646
[34] T. Lozano-perez and M. A Wesley, "An algorithm for planning collision-free paths among the polyhedral obstacles." Communications of the ACM, vol. 22, no. 10, pp. 560-570, Oct.1979
[35] O. Khatib, "Real-time obstacle avoidance for manipulators and mobile robots." Int. J. of Robotics Research, vol. 5,no. 1, pp.99-98, Spring 1986
[36] H. R Beom and H.S.Cho, "Path planning for mobile robot using skeleton of free space," in Proc. IFAC Symp, Information Control Problems for
Manufacturing(Toronto. Canada, May 25—28 1992), pp.509-513
[37] 董立志，孙茂相，朱枫，基于实时避障物预测的机器人运动规划，机器人，2001，vol22(3)pp12-16
[38] K. Madhava Krishna, Prem K. Kalra Dection, Tracking and Avoidance of Multiple Dynamic Objects, Journal of Intelligent and Robotic Systems 33: 371-408. 2002
[39] Fujimura, A., Teramoto, M., Nikiforuk, P. N. and Gupta, M. M.: Cooperative coillision avoidance between multiple mobile robots, J. Robotic Systems 17(7)(2000), pp374-363
[40] Chow Ka Ming, Jimmy, Fuzzy modeling and behaviour liarning of autonomous mobile robots. The Hong Kong: Polytechnic University, 2001
[41] Stripurr Thongchai, Inteiligent contrl and learning techniques for mobile robots, graduate school of Vanderbiit university, 2001
[42] Hee PaK Beom, Hyung Suck Cho, A sensor-based navigation for a mobile robot using fuzzy logic and reinforcement learning, IEEE Transeations on systems, man and cyberneics, Vol. 25, No.3, march 1995
[43] Johann Borenstein, Yorem Koren, Real-time obstacle avoidance for fast moblie robots, IEEE. Transactions on systems, Man and cybernetics, vol. 19, No.5, Septelnber, 1989
[44] 任华瑛，胡跃明，池瑞楠，基于遗传算法的最优模糊控制器在非完整移动机器人轨迹跟踪中的应用，机器人，2000，vol21(3)pp72-76
[45] 李世华，田玉平，非完整移动机器人的轨迹跟踪控制，控制与决策，2002，vol17(3)pp301-305
[46] 张纯刚，席裕庚，动态位置环境中移动机器人的滚动路径规划，机器人，2002，vol24(1)：pp71-75
[47] 袁曾任，高明，在动态环境中移动机器人导航和避碰的一种新方法，机器人，2000，vol．22(2)：pp81-87