基于DSP的移动机器人控制系统设计与避障算法的实现
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摘要
移动机器人是机器人研究领域中重要的一个分支,智能移动机器人集人工智能、智能控制、信息处理、图象处理、检测与转换等专业技术为一体,跨计算机、自动控制、机械、电子等多学科,成为当前智能机器人研究的重点之一。路径规划是移动机器人研究的一个基本而又极其重要的课题。灵活有效的路径规划算法能够帮助机器人适应各种复杂的环境,大大提高机器人的应用领域,尤其是使移动机器人具备自动识别环境的能力,能在未知环境下完成一定的工作。
本文的主要任务是以LEGO Technic组件为本体,重新设计一个控制器,并据此研究移动机器人的避障和路径规划策略。为满足移动机器人避障的实时性、准确性要求,需要有一个功能完善的硬件平台,实现信息采集、处理以及避障的策略。本文设计了一套移动机器人控制器,该控制器以DSP TMS320F2407A为核心,辅之以相应的外围电路、传感器、人机交互、串行通信和电源等模块。车体动力学实验及避障实验结果验证了本文所设计的控制器的性能。
在对移动机器人的避障策略的研究过程中,采用了基于虚拟力场法的位置闭环控制方法,这种方法简化了传统避障方法的数学运算过程,提高了机器人对障碍物的反应速度。最后,设计了一套实验系统,进行相应的避障方法实验。结果表明,所设计的控制器能够完成基本的实时避障功能。
Mobile robot is an important branch of robotics. It involves artificial intelligence (AI), intelligent control, information processing, and image processing. It refers to computer science, auto control, mechanical, electronic science. It's one of the key researches on intelligent robot now. Path Planning is a basic and important topic in the mobile robot research. Flexible path planning algorithm is helpful for the robot in various complicated environments, so that the application of mobile robot is extended. Especially, when the robot has the ability to judge the environment, it can finish some orders in an unknown area.
The task of this paper is to design the control system of mobile robot and research on the method of obstacle avoiding based on the set of LEGO Technical module.
In order to realize the obstacle avoidance with flexibility and celerity, a multifunctional controller is necessary. A DSP chip TMS32OF2407A who have high processing ability is used as the center of the mobile robot controller. The hardware includes outside circuits of DSP, sensors, motor drivers, the human-robot interface, data communication and power modules. Then, the capability of the controller is proved by the function experiment. The experiment results are compared with the theorial analysis.
During the period of obstacle avoiding methods, a Virtual Force Field is used to descript the environment condition. A close loop control method is used as the strategy of obstacle avoiding of mobile robot. To test the mobile robot, an experiment is given, and the result is OK.
本文的主要任务是以LEGO Technic组件为本体,重新设计一个控制器,并据此研究移动机器人的避障和路径规划策略。为满足移动机器人避障的实时性、准确性要求,需要有一个功能完善的硬件平台,实现信息采集、处理以及避障的策略。本文设计了一套移动机器人控制器,该控制器以DSP TMS320F2407A为核心,辅之以相应的外围电路、传感器、人机交互、串行通信和电源等模块。车体动力学实验及避障实验结果验证了本文所设计的控制器的性能。
在对移动机器人的避障策略的研究过程中,采用了基于虚拟力场法的位置闭环控制方法,这种方法简化了传统避障方法的数学运算过程,提高了机器人对障碍物的反应速度。最后,设计了一套实验系统,进行相应的避障方法实验。结果表明,所设计的控制器能够完成基本的实时避障功能。
Mobile robot is an important branch of robotics. It involves artificial intelligence (AI), intelligent control, information processing, and image processing. It refers to computer science, auto control, mechanical, electronic science. It's one of the key researches on intelligent robot now. Path Planning is a basic and important topic in the mobile robot research. Flexible path planning algorithm is helpful for the robot in various complicated environments, so that the application of mobile robot is extended. Especially, when the robot has the ability to judge the environment, it can finish some orders in an unknown area.
The task of this paper is to design the control system of mobile robot and research on the method of obstacle avoiding based on the set of LEGO Technical module.
In order to realize the obstacle avoidance with flexibility and celerity, a multifunctional controller is necessary. A DSP chip TMS32OF2407A who have high processing ability is used as the center of the mobile robot controller. The hardware includes outside circuits of DSP, sensors, motor drivers, the human-robot interface, data communication and power modules. Then, the capability of the controller is proved by the function experiment. The experiment results are compared with the theorial analysis.
During the period of obstacle avoiding methods, a Virtual Force Field is used to descript the environment condition. A close loop control method is used as the strategy of obstacle avoiding of mobile robot. To test the mobile robot, an experiment is given, and the result is OK.
引文
[1]孟庆春.齐勇.智能机器人及其发展.中国海洋大学学报.2004.3(5).831-838
[2]梁轲.移动机器人在未知环境下的自适应路径规划[学位论文].复旦大学图书馆.复旦大学.2005.5
[3]谭民.移动机器人的发展现状及趋势.机器人技术与应用.2001.3.7
[4]张培仁.张志坚.基于16/32位DSP机器人控制系统设计与实现.第1版.北京.清华大学出版社.2006年10月.1
[5]张明路.丁承君.移动机器人的研究现状与趋势.河北工业大学学报.2004.33(2).111-115
[6]戴博.肖晓明.蔡自兴.移动机器人路径规划技术的研究现状与展望.控制工程.2005.12(3).198-201
[7]李磊.叶涛.谭民.移动机器人技术研究现状与未来.机器人.2002.2(5).476-479
[8]Brain Yamauchi.Alan Schultz.William Adams.Mobile robot exploration and map building with continuous localization.IEEE International conference on Robotics and Automation.1994.3715-3720.
[9]Sebastian Thrun.Wolfram Burgard.Dieter Fox.A probabilistic approach to concurrent mapping and localization for mobile robots.Machine learning and autonomous robot.1998.31(5).1-25
[10]干国强.导航与定位.第1版.北京.国防工业出版社.2000年9月.41-42
[11]姚学标.王桦.铁磁金属薄膜磁阻传感器的研制.安徽大学学报.1995.19(12).40-44
[12]胡盛斌.罗均.龚振邦.用于移动机器人避障的超声测距系统.机电一体化.2003.1.20-21
[13]曾伟.廖力清.陈华星.基于DSP的液品显示器接口设计及控制实现.国外电子元器件.2006.11.17-19
[14]O.Khatib.Real-time obstacle avoidance for manipulator and mobile robots.IEEE Int.Conf.,Robotics and Automat.1985.St.Louis.MO,March 25-28,1985,500-505
[15]吴涛.移动机器人避障与路径规划研究.[学位论文].华中科技大学.华中科技大学.2004.21-24
[16]Jerome Barraquand,Bruno Langlois,Jean-claude Latombe.Numerical potential field techniques for robot path planning.IEEE Transactions on Systems,Man and Cybernetics.1992,22(2)
[17]Prahlad Vadakkepat,Kay Chen Tan,Wang Ming Liang.Evolutionary artificial potential fields and their application in real time robot path planning.IEEE international conference on Robotics and Automation.1998.
[18]Makita Y,Hagiwara M,Nakagawa M.A simple path planning system using fuzzy rules and a potential field.World Congress on Computational Intelligence.1994.(2).994-999
[19]Sadao Akishita,Takashi Hisanobu.Fast path planning available for moving obstacle avoidance by use of Laplace potential.IEEE international conference on Intelligent robots and systems.1993,673-678
[20]毕盛.朱金辉.阂华清.基于模糊逻辑的机器人路径规划.机电产品开发与创新.2006.19(1).21-22
[21]伊连云.金秀慧.贺廉云.王慧.基于神经网络的移动机器人避障控制和决策.农业装备与车辆工程.2006.8.22-24
[22]Johann Borenstein.Real-time obstacle avoidance for fast mobile robot.IEEE.transaction on systems.man,and cybernetics 1989.v19.no.5.1179-1182
[23]Koren Y,Borenstein J.Potenial Field Methods and Their Inherent Limitations for Mobile Robot Navigation.In:Proceedings of the 1991 IEEE International Conference on Robotics and Automation,Sacramento,California,1991.1398-1404
[24]马兆青.袁曾任.基于栅格方法的移动机器人实时导航和避障.机器人.1996.18.(6).344-348
[25]崔保成.差动式移动机器人轨迹控制和避障方法的研究.哈尔滨工程大学.2002.7-9
[26]刘和平.TMS320LF240X DSP C语言开发应用.第3版.北京.北京航空航天大学出版社.2003.1-3
[27]高国富.谢少荣.罗均.机器人传感器及其应用.第1版.北京.化学工业出版社.2005.56-58
[28]Fred G Martin.刘荣.机器人探索--工程实践指南.第1版.北京.电子工业出版社.2004.10-12
[29]杨兴裕.吴海彬.陈力.基于虚拟力场的移动机器人避障方法.机床与液压.2005.7.87-89
[30]黄永志.陈卫东.两轮移动机器人运动控制系统的设计与实现.机器人.2004.26.(1).40-42
[2]梁轲.移动机器人在未知环境下的自适应路径规划[学位论文].复旦大学图书馆.复旦大学.2005.5
[3]谭民.移动机器人的发展现状及趋势.机器人技术与应用.2001.3.7
[4]张培仁.张志坚.基于16/32位DSP机器人控制系统设计与实现.第1版.北京.清华大学出版社.2006年10月.1
[5]张明路.丁承君.移动机器人的研究现状与趋势.河北工业大学学报.2004.33(2).111-115
[6]戴博.肖晓明.蔡自兴.移动机器人路径规划技术的研究现状与展望.控制工程.2005.12(3).198-201
[7]李磊.叶涛.谭民.移动机器人技术研究现状与未来.机器人.2002.2(5).476-479
[8]Brain Yamauchi.Alan Schultz.William Adams.Mobile robot exploration and map building with continuous localization.IEEE International conference on Robotics and Automation.1994.3715-3720.
[9]Sebastian Thrun.Wolfram Burgard.Dieter Fox.A probabilistic approach to concurrent mapping and localization for mobile robots.Machine learning and autonomous robot.1998.31(5).1-25
[10]干国强.导航与定位.第1版.北京.国防工业出版社.2000年9月.41-42
[11]姚学标.王桦.铁磁金属薄膜磁阻传感器的研制.安徽大学学报.1995.19(12).40-44
[12]胡盛斌.罗均.龚振邦.用于移动机器人避障的超声测距系统.机电一体化.2003.1.20-21
[13]曾伟.廖力清.陈华星.基于DSP的液品显示器接口设计及控制实现.国外电子元器件.2006.11.17-19
[14]O.Khatib.Real-time obstacle avoidance for manipulator and mobile robots.IEEE Int.Conf.,Robotics and Automat.1985.St.Louis.MO,March 25-28,1985,500-505
[15]吴涛.移动机器人避障与路径规划研究.[学位论文].华中科技大学.华中科技大学.2004.21-24
[16]Jerome Barraquand,Bruno Langlois,Jean-claude Latombe.Numerical potential field techniques for robot path planning.IEEE Transactions on Systems,Man and Cybernetics.1992,22(2)
[17]Prahlad Vadakkepat,Kay Chen Tan,Wang Ming Liang.Evolutionary artificial potential fields and their application in real time robot path planning.IEEE international conference on Robotics and Automation.1998.
[18]Makita Y,Hagiwara M,Nakagawa M.A simple path planning system using fuzzy rules and a potential field.World Congress on Computational Intelligence.1994.(2).994-999
[19]Sadao Akishita,Takashi Hisanobu.Fast path planning available for moving obstacle avoidance by use of Laplace potential.IEEE international conference on Intelligent robots and systems.1993,673-678
[20]毕盛.朱金辉.阂华清.基于模糊逻辑的机器人路径规划.机电产品开发与创新.2006.19(1).21-22
[21]伊连云.金秀慧.贺廉云.王慧.基于神经网络的移动机器人避障控制和决策.农业装备与车辆工程.2006.8.22-24
[22]Johann Borenstein.Real-time obstacle avoidance for fast mobile robot.IEEE.transaction on systems.man,and cybernetics 1989.v19.no.5.1179-1182
[23]Koren Y,Borenstein J.Potenial Field Methods and Their Inherent Limitations for Mobile Robot Navigation.In:Proceedings of the 1991 IEEE International Conference on Robotics and Automation,Sacramento,California,1991.1398-1404
[24]马兆青.袁曾任.基于栅格方法的移动机器人实时导航和避障.机器人.1996.18.(6).344-348
[25]崔保成.差动式移动机器人轨迹控制和避障方法的研究.哈尔滨工程大学.2002.7-9
[26]刘和平.TMS320LF240X DSP C语言开发应用.第3版.北京.北京航空航天大学出版社.2003.1-3
[27]高国富.谢少荣.罗均.机器人传感器及其应用.第1版.北京.化学工业出版社.2005.56-58
[28]Fred G Martin.刘荣.机器人探索--工程实践指南.第1版.北京.电子工业出版社.2004.10-12
[29]杨兴裕.吴海彬.陈力.基于虚拟力场的移动机器人避障方法.机床与液压.2005.7.87-89
[30]黄永志.陈卫东.两轮移动机器人运动控制系统的设计与实现.机器人.2004.26.(1).40-42