移动机器人避障与路径规划研究-华中科技大学

____________________UDC_______________________________________________________2004.5.11IIADissertationSubmittedtoHuazhongUniversityofScienceandTechnologyfortheDegreeofMasterofEngineeringResearchonObstacleAvoidanceandPathPlanningforMobileRobotsCandidate:WuTaoMajor:ControlTheoryandControlEngineeringSupervisor:Prof.HuangXinhanHuazhongUniversityofScienceandTechnologyWuhan430074,P.R.ChinaMay,2004IActivMediaRoboticsPioneer2-Dxe16A*VCPioneerIIA*IIAbstractMobilerobotisanimportantbranchofrobotics.Andthereal-timeobstacleavoidanceandpathplanningisalsooneimportantresearchaspectofthemobilerobot.Withthecontinuousprogressofrobot’stechnology,mobilerobotrepresentthedevelopmentofinformationtechnology,automationtechnology,systemintegrationtechnologytosomeextent.Thethesis’sresearchmakesadeepandsystematicstudyofmulti-aspectoftherobot’sobstacleavoidanceandpathplanningbasedonthePioneer2-DxerobotwhichismadebyActivMediaRoboticscompany.Thecontentsareasfollows:Thethesismakesasummarizeondifferentresearchaspectsofmobilerobotandcontrastthedifferentdevelopmentlevelofforeignanddomestic.Severalmethodssuchaspotentialfieldmethod,gridmethod,geneticalgorithmsmethod,whichusedinmobilerobot’sobstacleavoidanceandpathplanningaredescribedindetail.Themainresearchofthethesisishowtousesixteensonarsensorstorealizetheobstacleavoidanceandpathplanning.Thefirstproblemweshouldsolveistherobot’sorientation.Theveraciousorientationisthepreconditionoftherobottofinishthetask.Thethesisuseroadmarkmethodtorealizetheorientation.Mobilerobothavetwotypicalmovement:lineandcircle.Wecanusethistwotypicalmovement’sspecificationtocontrolrobot.Next,thethesisdecomposetheprocessofobstacleavoidanceastwobasicactions:avoidingfrontobstaclesandavoidingsideobstacles.In-depthanalysisofthetwoactionsarealsogiven.Another,thethesisanalyzetheprincipleofsafeavoidingdistanceandthewayofunknowncircumstancecharacteranalysisbasedonsonars;realizetheoptimalpathplanningofmazemapbasedonA*algorithm;givetheobstacleavoidancestrategybasedonpotentialfieldmethod.Moveover,thethesisconstructsacommunicationplatformbasedonVC,thecontentrealizationandtheprotocolformatofdatapackagearealsogiven.WeexperimentalizewithPioneerIIrobotandtheexperiment’sresultsverifythattheabovestrategyandalgorithmiscorrectnessandeffectiveness.Intheend,thisthesismakesasummarizeaboutfulltextandlooksaheadtheIIIapplicationofinformationintegrationtechnologiesinobstacleavoidanceandpathplanningkeywordsmobilerobot,pathplanning,obstacleavoidance,datafusion,sonar,A*algorithmIV.................................................................................................................(I)Abstract..........................................................................................................(II)11.1........................................................................................................(1)1.2...............................................................(5)1.3.......................................................................(7)1.4...................................................................................(8)22.1PioneerII..........................................................(9)2.2.........................................................(12)2.3Socket..................................................................................(13)2.4.....................................................(16)2.5.........................................................(19)2.6..............................................................................................(20)33.1.........................................................(21)3.2..................................................................................................(23)3.3..................................................................................................(25)3.4..............................................................................................(27)3.5..............................................................................................(28)V44.1.................................................................(29)4.2.....................................................(31)4.3.....................................................(34)4.4.............................................................(39)4.5..............................................................................................(42)55.1.................................................................(43)5.2......................................................................................(46)5.3.................................(49)5.4.............................................(53)5.5..............................................................................................(59)66.1.................................................................(60)6.2.............................................................(61)6.3..............................................................................................(68)77.1.....................................