割草机器人总体设计与关键技术研究

【作者】 赵金星；

【导师】 王华坤；

【作者基本信息】 南京理工大学 ， 机械电子工程， 2007， 硕士

【摘要】 本文以全区域覆盖智能割草机器人为研究对象，主要研究了割草机器人的全区域覆盖路径规划技术，以及基于模糊逻辑导航／避障技术和机器人控制器的软硬件设计。割草机器人的工作环境一般比较复杂，基于已知环境模型的精确路径规划一般在实践上较难实现，且对定位系统的分辨率要求较高，从而增加了系统的成本和实现的难度。本文从实用性和通用性的角度出发，提出了未知环境下定性拓扑路径规划方法，文中较为详细的讨论了工作环境的在线分割方法与子区域覆盖方法，并给出了相应的算法。这种方法最大的特点是成本低(只要求有测距传感器即可)，且由于是定性规划，不依赖环境模型与精确的定位，因此其数据处理量也比较小，对硬件系统的要求不高。为了保证机器人能较好的覆盖每个子区域，必须有好的路径跟踪与导航策略。由于模糊逻辑方法有不需要精确的数学模型、鲁棒性好等特点，故采用基于模糊逻辑方法的机器人路径跟踪与导航策略。此外，本文还较全面地研究了机器人的硬件软件设计，主要包括超声波模块的设计，遥控，电机驱动与运动控制模块等，并简要的讨论了机器人控制器的各种电磁兼容与抗干扰措施，并从总体集成的角度设计和制作了机器人的控制器电路板。通过试验表明，本文设计的控制器能够满足应用要求。更多还原

【Abstract】 This thesis, based on the whole-region coverage intelligent robomower, mainlyaddresses the area-coverage path planning technique of the robomower, in themeanwhile, contains the navigation and obstacle-avoidance based on the fuzzy-logiccontrol, also the design of software and hardware the controller.The robomower’ work environment are generally very complicated,and the exactpath planning based on known environment model is generally difficult to realize,furthermore, it in great depth depend on accurate localization system, thus increasingthe cost of the robomower. This thesis, from the view of practicability andgeneralization, introduce a new maneuver that is qualitatively topological coverage. Inthis article, detailed online slice decomposition of the environment and sub-regioncoverage methods are discussed, at the same time, the relevant algorithms areadvanced. The obvious trait of this maneuver is its lower cost and its less dependenceon the hardware.In order to assure that the robot can fill each sub-region to the most coverage rate,excellent path tracking and navigation maneuver have to be fulfilled. Because of theno-need for the exact math model and preferable robustness which fuzzy-logic controlhas, we adopt the maneuver based on the fuzzy-logic to navigate and avoid obstacle.In the other way, this thesis also addresses the design of the robot’ hardware andsoftware, including the design of the sonar range module, the design of remotecontroller, moreover, simply discuss the measurement of EMI suppression.In the meanwhile, we design and make the robot controller, by way of experiment,we achieve well result.更多还原