【作者】 刘颜；

【导师】 董春；

【作者基本信息】 北京交通大学 ， 电力电子与电力传动， 2007， 硕士

【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。更多还原

【Abstract】 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.更多还原