【作者】 郭睿；

【导师】 马昕；

【作者基本信息】 山东大学 ， 检测技术与自动化装置， 2008， 硕士

【摘要】 移动机器人在未知环境中自主完成任务在工业、民用以及军事等领域具有广泛的应用前景。自主式移动机器人在未知环境下工作,必须具有对未知环境进行探测和环境地图创建的能力。本文主要研究移动机器人在未知环境中自主进行地图创建问题,地图创建在移动机器人研究中有着非常重要的意义,是实现自主导航,在未知环境中完成复杂智能任务的关键,也集中体现了机器人的感知能力和智能水平。本文以实现未知环境下的多机器人地图创建为背景,主要工作如下:首先,本文回顾了移动机器人环境地图创建的研究现状,地图创建中存在的相关问题,并对本文的选题背景和主要内容作了介绍。然后,针对基于声纳的室内结构化环境地图创建,运用D-S证据理论对多传感器数据进行融合,使用自适应RCF因子消除大量不确定信息,建立了基于栅格的地图表示。通过使用Pioneer3机器人在实际环境中采集数据,初步建立起环境的栅格地图,验证了数据融合算法的有效性。实验表明,基于D-S证据理论的数据融合算法在机器人环境建模中取得了良好效果。其次,在已建立的环境地图基础上,为进一步消除不确定信息的影响,使用图像处理问题中经常用到的hough变换对原始声纳数据进行直线特征的提取。经过对声纳数据进行预处理,既改善了建立环境地图的质量,又提高了建立地图的效率,为实现移动机器人在未知环境中进行快速、有效的地图创建提供了良好的基础,从而提高了机器人自主运行、导航、路径规划的能力。第四,为提高机器人实现预定任务的效率,研究了多机器人协作地图创建的问题,分析了多机器人地图融合算法,实现了机器人在不知道相互位置情况下的地图融合。基于地图相似度的概念,利用遗传算法在全局空间搜索,其对数据的并行处理能力改善了全局搜索效率和地图融合的效果。最后,对本文所做的工作和取得的成果加以总结,并分析了可以进一步进行改进的地方并对未来发展进行了展望。更多还原

【Abstract】 Mobile robots which can autonomously accomplish tasks in unknown environment have wide potentials for application in industry, civilian life and military. Autonomous mobile robots should be able to explore and map unknown environment for accomplishing various tasks. Map building embodies the perception ability and intelligence of robots. The dissertation focuses on the related problems of map building in unknown environment. The main work of this dissertation is as follows:Firstly, the dissertation reviews the state-of-the-art research of map building of mobile robot and introduces background and main contents of this thesis.Secondly, D-S evidence theory is applied to fuse the sonar data for occupancy grid map building in indoor structural environment. Self adaptive RCF factor is used to eliminate uncertainty. We have done experiments with the Pioneer3 mobile robot. Experiment results prove that data fusion algorithm based on D-S evidence theory gain satisfactory effect in modeling environment for mobile robot.Thirdly, hough transform which is usually used in image process problem is applied to extract the line characteristic of original sonar data for eliminating the impact of uncertain information further. After sonar data being preprocessed, not only the quality of the built map but also mapping efficiency is greatly improved. This will provide good basis for fast and efficient map building of mobile robot in unknown environment and improve the ability of autonomous operation, navigation and path planning further.Fourthly, for improving the efficiency of implementing expected tasks, we have done some research work on map building for multi-robot. After reviewing and analyzing the algorithm of map merging for multi-robot, the paper implements the map merging process for mobile robots without knowing the relative positions of robots. Based on the map similarity concept, this dissertation applies the genetic algorithm search strategy to search in the global world. The parallel search strategy improves the efficiency of globally search and effect of map merging.Finally, conclusions are provided. Outlook of future research is ananlyzed.更多还原