移动机器人的路径规划与控制研究

【作者】 向静波；

【导师】 贺昱耀；

【作者基本信息】 西北工业大学 ， 控制理论与控制工程， 2004， 硕士

【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。更多还原

【Abstract】 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.更多还原