路径已知的多车式移动机器人运动协调研究

发布时间：2018-04-15 17:13

本文选题：多车式移动机器人 + 运动协调　；参考：《北京交通大学》2015年硕士论文

【摘要】：近年来,机器人学的应用逐步从单一机器人工作到多机器人协同工作,其中多车式机器人运动协调是多机器人协同工作的关键技术。多车式移动机器人运动协调课题的研究受到了科学界和工业界的广泛关注,并应用到军事、制造业和物流等领域。以往的大多数研究都是在移动机器人路径未知的情况下,在路径规划的阶段进行在线或离线的运动协调,本文探讨的问题是基于机器人移动路径已知时,如何进行机器人运动协调。具体来讲,本文的目的是实现多个机器人在运动的过程中不会发生相互碰撞,且需要满足最小化任务完成时间的优化目标。本文的研究工作如下：提出了路径已知的多车式移动机器人运动协调问题的解决方案,构造了由路径规划、碰撞区段计算、运动协调、速度平滑化和中央调度执行五个部分构成的算法框架。本文通过数学建模将本问题转化为混合整数规划问题,来进行运动协调。为了解决碰撞区段求解复杂度过高的问题,本文受火车闭塞区间的启发,采用分治思想降低时间复杂度。为了解决速度颠簸的问题,本文采用了速度平滑化算法,优化小车的运行过程。基于Qt构建了算法实验平台并对算法进行验证,实验表明该方案具有一定的可行性和实际应用价值。通过实验平台的仿真和验证,结果表明本算法对于一般规模的多车式移动机器人系统(几十计),算法性能表现良好,可投入到实际的生产环境中。
[Abstract]:In recent years, the application of robotics has gradually changed from single robot to multi-robot cooperative work, and motion coordination of multi-vehicle robot is the key technology of multi-robot cooperative work.The research on motion coordination of multi-vehicle mobile robot has been paid more and more attention by science and industry, and has been applied to military, manufacturing and logistics fields.In the past, most of the research is to coordinate the motion online or offline in the phase of path planning when the path of mobile robot is unknown. The problem discussed in this paper is based on the known mobile path of the robot.How to coordinate robot motion.Specifically, the purpose of this paper is to realize that multiple robots will not collide with each other in the process of motion, and it is necessary to meet the goal of minimizing the completion time of the task.The research work of this paper is as follows: a solution to the motion coordination problem of multi-vehicle mobile robot with known path is proposed, and the path planning, collision section calculation, motion coordination are constructed.The algorithm framework consists of speed smoothing and central scheduling execution.In this paper, the problem is transformed into a mixed integer programming problem by mathematical modeling to coordinate motion.In order to solve the problem that the complexity of solving collision section is too high, this paper, inspired by the train block interval, adopts the divide-and-conquer idea to reduce the time complexity.In order to solve the problem of speed turbulence, the speed smoothing algorithm is adopted to optimize the running process of the car.The algorithm experimental platform based on QT is constructed and the algorithm is verified. The experiment shows that the scheme is feasible and practical.Through the simulation and verification of the experimental platform, the results show that the algorithm can be applied to the general multi-vehicle mobile robot system with good performance and can be applied to the actual production environment.
【学位授予单位】：北京交通大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242

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