用于超市机器人的环境建模方法研究
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摘要
本文以超市机器人的作业环境为背景,对知识表示、基于特征库的超市环境区域建模、商品建模、货架建模等问题进行了深入研究。通过建立并使用超市样本库,使机器人在超市环境中能够快速准确地建立起环境模型。并利用LVQ神经网络对环境样本进行学习,使机器人能够较准确地分辩出环境中障碍物的类型,为在未知环境行走时的路径规划与障碍回避提供基础。
论文首先对人工智能的发展方向、机器人的发展方向、机器人学所涉及的知识与领域、机器人环境建模的相关内容作了综述性介绍,分析了多种建模方法在不同应用背景下的优缺点。通过分析商品在超市环境模型中的固有属性及其与超市中其他对象的关系,对商品进行了语义与几何形态建模。对于商品建模问题从商品的定义、商品几何形态、商品的位姿等方面进行了研究,使用商品的隶属树对其进行分类及编码。通过分析超市整体环境的特性与单元对象的形态,给出了基于样本特征库的建模方法。建模过程中采用了多知识表示相结合、LVQ神经网络、二维半结构表示等方法。
利用C++Builder开发平台对应用于超市机器人的环境知识、语义级环境予以了定义与管理,实现了区域建模、货架建模、商品建模、障碍物识别。依据环境知识表示机制,利用多种知识表示相结合的方式来定义环境、货架、商品之间的关系,建立起机器人语义级环境模型。利用二维半的思想对超市中的障碍物、货架、商品建立形体模型。使用样本量化与学习的方法,为静态建模方法运用到动态建模中,提供了新的方法与思路。课题最后给出了若干关键难题的求解途径,比较详细地阐明了系统的设计和实验结果。
Based on supermarket environment of robot operating, this paper conducts a depth research on knowledge representation, merchandise modeling, shelf modeling and map modeling. Created sample libraries so that the supermarket robot can establish the environmental model quickly and accurately. Using the LVQ neural network system to learn environmental samples to distinguish the type of obstacles accurately. These methods provides a data support for path planning and obstacle avoidance in an unknown area for supermarket robot.
This paper gives an overview introduction to the background of the subject, the theory of robotics and artificial intelligence, the development of robot and environment modeling. By analyzing the advantages and disadvantages of several modeling methods in different applications, this paper gives models for the supermarket environment both in semantic and structure. This paper makes a classification and encoding for merchandise and conducts a research on definition, geometry modeling, location and pose of the merchandise. Gives a modeling method based on sample characteristics libraries using multi-knowledge representation, LVQ neural network, 2.5D description.
Makes a definition and management for the knowledge and semantic of environment using C + + Builder development platform. Realizes map modeling, shelf modeling, merchandise modeling and obstacle recognition. Based on knowledge representation this paper constructs a relationship model between environment, shelves, and merchandise using a combination of multi-knowledge representation methods. Gives solutions to the key problems, described the system designing, experiment and the test results, points out the scientific value of this subject, its shortcomings and further research objectives.
论文首先对人工智能的发展方向、机器人的发展方向、机器人学所涉及的知识与领域、机器人环境建模的相关内容作了综述性介绍,分析了多种建模方法在不同应用背景下的优缺点。通过分析商品在超市环境模型中的固有属性及其与超市中其他对象的关系,对商品进行了语义与几何形态建模。对于商品建模问题从商品的定义、商品几何形态、商品的位姿等方面进行了研究,使用商品的隶属树对其进行分类及编码。通过分析超市整体环境的特性与单元对象的形态,给出了基于样本特征库的建模方法。建模过程中采用了多知识表示相结合、LVQ神经网络、二维半结构表示等方法。
利用C++Builder开发平台对应用于超市机器人的环境知识、语义级环境予以了定义与管理,实现了区域建模、货架建模、商品建模、障碍物识别。依据环境知识表示机制,利用多种知识表示相结合的方式来定义环境、货架、商品之间的关系,建立起机器人语义级环境模型。利用二维半的思想对超市中的障碍物、货架、商品建立形体模型。使用样本量化与学习的方法,为静态建模方法运用到动态建模中,提供了新的方法与思路。课题最后给出了若干关键难题的求解途径,比较详细地阐明了系统的设计和实验结果。
Based on supermarket environment of robot operating, this paper conducts a depth research on knowledge representation, merchandise modeling, shelf modeling and map modeling. Created sample libraries so that the supermarket robot can establish the environmental model quickly and accurately. Using the LVQ neural network system to learn environmental samples to distinguish the type of obstacles accurately. These methods provides a data support for path planning and obstacle avoidance in an unknown area for supermarket robot.
This paper gives an overview introduction to the background of the subject, the theory of robotics and artificial intelligence, the development of robot and environment modeling. By analyzing the advantages and disadvantages of several modeling methods in different applications, this paper gives models for the supermarket environment both in semantic and structure. This paper makes a classification and encoding for merchandise and conducts a research on definition, geometry modeling, location and pose of the merchandise. Gives a modeling method based on sample characteristics libraries using multi-knowledge representation, LVQ neural network, 2.5D description.
Makes a definition and management for the knowledge and semantic of environment using C + + Builder development platform. Realizes map modeling, shelf modeling, merchandise modeling and obstacle recognition. Based on knowledge representation this paper constructs a relationship model between environment, shelves, and merchandise using a combination of multi-knowledge representation methods. Gives solutions to the key problems, described the system designing, experiment and the test results, points out the scientific value of this subject, its shortcomings and further research objectives.
引文
[1]王耀南.机器人智能控制工程.北京:科学出版社,2004.
[2]蔡自兴.机器人学.北京:清华大学出版社,2000.
[3]章小兵,宋爱国.地面移动机器人研究现状及发展趋势机器人技术与应用.2005,11(2):19-23.
[4]王握文.世界机器人发展历程.国防科技.2001,12(5):70-75.
[5]李磊.移动机器人系统设计与视觉导航控制研究:(博士学位论文).北京:中国科学院研究生院,2003.
[6]蔡自兴.863项目机器人技术主题2003年重点课题研究进展机器人技术与应用,机器人技术与应用.2001,5(8):15-34.
[7]陈丽,王越超,李斌.蛇形机器人的翻滚运动及其越障研究.高技术通讯,2003,13(7):54-57.
[8]朱世强,王宣银.计器人技术及其应用.杭州:浙江大学出版社,2004.
[9]熊有伦.计器人技术基础.武汉:华中科技大学出版,2000.
[10]杨淮清,于舜.基于二维半的半结构对象建模方法研究.微计算机信息,2009,3(25):274-275.
[11]樊丽萍,邹荣金.二维半自由曲面造型技术与雕刻系统.计算机工程.1998,24(8):46-53.
[12]Chatila R,referencing and consistent world modeling for mobile robots.IEEE International Conference on Robotics and Automation.2001:138-145.
[13]Crowley J L.Mathematical foundations of navigation and perception for an autonomous mobile robot.International Workshop on Reasoning with Uncertainty in Robotics.1995:9-51.
[14]Joseph J,Pfeiffer J.A Prototype Inference Engine for Rule-based Geometric Reasoning.Lecture Notes in Artificial Intelligence,Diagrammatic Representation and Inference,2004,v2980:216-226.
[15]Choset H.Senior based Motion Planning:Incremental Construction of the Hierarchical Generalized Voronoi Graph.Journal of Robotics Research.2000,19(2):126-148.
[16]张明路,丁承君,段萍.移动机器人的研究现状与趋势.河北工业大学学报.2004(2):110-115.
[17]Smith R,Cheeseman P.On the representation and estimation of spatial uncertainty.International Journal of Robotics Research,1996,5(4):56-68.
[18]Jnaet J A,Luo R C.Sonar Windows and Geometrically Represented Objects for Mobile Robot Self-Referencing..Yokohma.1993,vZ:1324-1331.
[19]Durrant Whyte.Sensor models and multisensor integration.International Journal of Robotics Research,1988.(7):97-113.
[20]Kabuka MR,Arenas AE.Position Verification of a Mobile Robot Using Standard Pattern.IEEE Journal of Robotics and Automation,1997,3(6):505-516.
[21]Borges G A,Aldon M J.Robustified Estimation Algorithms for Mobile Robot Localization Based on Geometrical Environment Maps.Robotics and Autonomous Systems,2003,45(34):131-159.
[22]张纯刚.机器人滚动路径规划的理论与方法研究:(博士学位论文).上海:上海交通大学,2002.
[23]吴顺祥,吉国力.数据库系统与知识库系统的对比分析.计算机工程与应用,1999:9(26):83-85.
[24]徐洁磐,马玉书,范明.知识库系统导论.北京:科学出版社,2000.
[25]杨勇,邹时林,蔡源.知识库系统的原理.华东地质学院学报,2001,04(16):334-337.
[26]B Auyrlu,B Basrhan.Identification of target Primitive switch multiple decision-making sonar using evidential reasoning,The International Journal of Robotics Research,17(6):59-63,June1998.
[27]B Barshan,B Ayurlu.Target identification with multiple logical sonar using evidential reasoning and simple majority voting,In Proceedings of the 1997 IEEE International Conference on Robotics and Automation.3:2063-2068.
[28]B Ayrulu,B.Barshan.Comparative analysis of different approaches to target classification and localization with sonar,International Conference on Multi-sensor Fusion and Integration for Intelligent Systems,pp.25-30,20-22 Aug.2001.
[29]B.Barshan,B.Ayrnlu,Neuarl network-based tagret diefferntiationusnig using Sonar for robotics application,IEEE Transactions on Robotics and Automation,2000:435-442.
[30]王伟编.人工神经网络原理入门与应用.北京:北京航空航天大学出版社,1995.
[31]T Kohonen.The self-organizing map,Proceedings of the IEEE.1990:78(9):1464-1480.
[32]Xin Ma,Wei Liu,Yibin Li,Rui Song,LVQ neural network based target differentiation method for mobile robot,In Proceedings of 12th International Conference on Advanced Robotics,2005:680-685.
[33]Tetsuo Tomizawa,Kohtaro Ohba.Remote Food Shopping Robot System in a Supermarket -Realization of the shopping task from remote places.2007 International Conference on Macaronis and Automation(ICMA),2007:1(4).Harbin China.
[34]李桂文,陈宇.大型综合超市流线设计研究:(硕士学位论文).哈尔滨:哈尔滨工业大学,2006.
[35]刘国山.数据建模与决策.北京:中国人民大学出版社,2004.
[36]李思强,袁满,张连滨.语义对象及建模技术.计算机应用研究,1999:40-41.
[37]杨淮清.一种行走参数规划方法及其在移动机器人中的应用.中国第五届机器人学术会议论文集.1997,489-495.
[38]张亮.自主移动机器人室内环境建模:(博士学位论文).杭州:浙江大学,2005.
[39]朱凤春.移动机器人导航与环境建模问题:(博士学位论文).烟台:烟台科技大学,2007.
[40]杨祥金,蔡庆生.人工智能.重庆:科学技术文献出版社重庆分社.1988.
[41]万辉.自主载体语义环境建模和规划的研究与实现:(硕士学位论文).沈阳:沈阳工业大学,2006.
[42]孙家广.计算机图形学(第三版).北京:清华大学出版社,1998.
[2]蔡自兴.机器人学.北京:清华大学出版社,2000.
[3]章小兵,宋爱国.地面移动机器人研究现状及发展趋势机器人技术与应用.2005,11(2):19-23.
[4]王握文.世界机器人发展历程.国防科技.2001,12(5):70-75.
[5]李磊.移动机器人系统设计与视觉导航控制研究:(博士学位论文).北京:中国科学院研究生院,2003.
[6]蔡自兴.863项目机器人技术主题2003年重点课题研究进展机器人技术与应用,机器人技术与应用.2001,5(8):15-34.
[7]陈丽,王越超,李斌.蛇形机器人的翻滚运动及其越障研究.高技术通讯,2003,13(7):54-57.
[8]朱世强,王宣银.计器人技术及其应用.杭州:浙江大学出版社,2004.
[9]熊有伦.计器人技术基础.武汉:华中科技大学出版,2000.
[10]杨淮清,于舜.基于二维半的半结构对象建模方法研究.微计算机信息,2009,3(25):274-275.
[11]樊丽萍,邹荣金.二维半自由曲面造型技术与雕刻系统.计算机工程.1998,24(8):46-53.
[12]Chatila R,referencing and consistent world modeling for mobile robots.IEEE International Conference on Robotics and Automation.2001:138-145.
[13]Crowley J L.Mathematical foundations of navigation and perception for an autonomous mobile robot.International Workshop on Reasoning with Uncertainty in Robotics.1995:9-51.
[14]Joseph J,Pfeiffer J.A Prototype Inference Engine for Rule-based Geometric Reasoning.Lecture Notes in Artificial Intelligence,Diagrammatic Representation and Inference,2004,v2980:216-226.
[15]Choset H.Senior based Motion Planning:Incremental Construction of the Hierarchical Generalized Voronoi Graph.Journal of Robotics Research.2000,19(2):126-148.
[16]张明路,丁承君,段萍.移动机器人的研究现状与趋势.河北工业大学学报.2004(2):110-115.
[17]Smith R,Cheeseman P.On the representation and estimation of spatial uncertainty.International Journal of Robotics Research,1996,5(4):56-68.
[18]Jnaet J A,Luo R C.Sonar Windows and Geometrically Represented Objects for Mobile Robot Self-Referencing..Yokohma.1993,vZ:1324-1331.
[19]Durrant Whyte.Sensor models and multisensor integration.International Journal of Robotics Research,1988.(7):97-113.
[20]Kabuka MR,Arenas AE.Position Verification of a Mobile Robot Using Standard Pattern.IEEE Journal of Robotics and Automation,1997,3(6):505-516.
[21]Borges G A,Aldon M J.Robustified Estimation Algorithms for Mobile Robot Localization Based on Geometrical Environment Maps.Robotics and Autonomous Systems,2003,45(34):131-159.
[22]张纯刚.机器人滚动路径规划的理论与方法研究:(博士学位论文).上海:上海交通大学,2002.
[23]吴顺祥,吉国力.数据库系统与知识库系统的对比分析.计算机工程与应用,1999:9(26):83-85.
[24]徐洁磐,马玉书,范明.知识库系统导论.北京:科学出版社,2000.
[25]杨勇,邹时林,蔡源.知识库系统的原理.华东地质学院学报,2001,04(16):334-337.
[26]B Auyrlu,B Basrhan.Identification of target Primitive switch multiple decision-making sonar using evidential reasoning,The International Journal of Robotics Research,17(6):59-63,June1998.
[27]B Barshan,B Ayurlu.Target identification with multiple logical sonar using evidential reasoning and simple majority voting,In Proceedings of the 1997 IEEE International Conference on Robotics and Automation.3:2063-2068.
[28]B Ayrulu,B.Barshan.Comparative analysis of different approaches to target classification and localization with sonar,International Conference on Multi-sensor Fusion and Integration for Intelligent Systems,pp.25-30,20-22 Aug.2001.
[29]B.Barshan,B.Ayrnlu,Neuarl network-based tagret diefferntiationusnig using Sonar for robotics application,IEEE Transactions on Robotics and Automation,2000:435-442.
[30]王伟编.人工神经网络原理入门与应用.北京:北京航空航天大学出版社,1995.
[31]T Kohonen.The self-organizing map,Proceedings of the IEEE.1990:78(9):1464-1480.
[32]Xin Ma,Wei Liu,Yibin Li,Rui Song,LVQ neural network based target differentiation method for mobile robot,In Proceedings of 12th International Conference on Advanced Robotics,2005:680-685.
[33]Tetsuo Tomizawa,Kohtaro Ohba.Remote Food Shopping Robot System in a Supermarket -Realization of the shopping task from remote places.2007 International Conference on Macaronis and Automation(ICMA),2007:1(4).Harbin China.
[34]李桂文,陈宇.大型综合超市流线设计研究:(硕士学位论文).哈尔滨:哈尔滨工业大学,2006.
[35]刘国山.数据建模与决策.北京:中国人民大学出版社,2004.
[36]李思强,袁满,张连滨.语义对象及建模技术.计算机应用研究,1999:40-41.
[37]杨淮清.一种行走参数规划方法及其在移动机器人中的应用.中国第五届机器人学术会议论文集.1997,489-495.
[38]张亮.自主移动机器人室内环境建模:(博士学位论文).杭州:浙江大学,2005.
[39]朱凤春.移动机器人导航与环境建模问题:(博士学位论文).烟台:烟台科技大学,2007.
[40]杨祥金,蔡庆生.人工智能.重庆:科学技术文献出版社重庆分社.1988.
[41]万辉.自主载体语义环境建模和规划的研究与实现:(硕士学位论文).沈阳:沈阳工业大学,2006.
[42]孙家广.计算机图形学(第三版).北京:清华大学出版社,1998.