移动机器人室内运动路径规划研究

发布时间：2018-01-07 03:37

本文关键词：移动机器人室内运动路径规划研究　出处：《江西理工大学》2017年硕士论文　论文类型：学位论文

【摘要】：机器人的出现,推动着人类技术领域的飞速发展,大批智能、半智能机器人被广泛应用于工农业、海洋探索、家庭服务、航天行业、军事行业等众多领域中,为提高人们的生活水平做出了巨大的贡献。机器人是多种学科的综合体,科学技术涉及到新型材料技术、传感器技术、信息通信技术、制造业技术、生物学技术等,是一个人类智慧集大成的产品。机器人技术的快速发展深深影响着当今每个人的生活。各个国家对与机器人的研究开发也从未间断,机器人行业代表着工业自动化的能力,代表着一个国家的硬实力,伴随着科学技术的进步,机器人行业的发展还会更进一步,未来前景不可限量。本文主要着手于家庭服务型机器人,对于机器人技术的室内环境下的路径优化、自主避障、路径算法等技术要点进行了详细的描述与分析。本文主要对蚁群算法信息素浓度的更新方式进行了改进,然后又把RFID技术应用在路径规划上。首先,本论文介绍了蚁群算法的生物描述,接下来对旅行商问题和蚁群算法进行介绍,紧接着就介绍了对蚁群算法改进比较好的三个算法系统,然后提出了一种新的信息素改进方式,通过实验验证了本方法的可行性,提高了算法的执行效率,克服了算法容易进入局部最小点的缺陷。在处理较大地图时,可以将大地图进行分割,分割成许多等份的小地图,分别对各小份地图采用新式蚁群算法进行路径规划,最大限度的提高算法的效率,拓展该算法在其他领域的应用。接着,把RFID技术应用在路径规划上,利用RFID技术消息之间传递的方法,通过计算机处理信息、反馈信息的方式,解决了栅格法无限细分的寻求最优路径的问题。RFID技术信息之间的通信功能,还解决了机器人搜索的难题。根据接收到的电子标签上的栅格地图信息,利用蚁群算法规划最优路径,通过反馈的方式变成局部地图来实现,循环往复,最终完成路径规划。
[Abstract]:The emergence of robots, promote the rapid development of human technology, a large number of intelligent, semi-intelligent robots are widely used in industry and agriculture, marine exploration, family services, aerospace industry, military industry and many other fields. Robot is a complex of many disciplines. Science and technology involve new material technology, sensor technology, information communication technology, manufacturing technology. Biological technology is a product of human intelligence. The rapid development of robot technology has deeply affected the life of everyone today. The research and development of robot in various countries have never stopped. Robot industry represents the ability of industrial automation and the hard power of a country. With the progress of science and technology, the development of robot industry will go further. The future prospects are limitless. This paper mainly focuses on the home service robot, for the robot technology in the indoor environment path optimization, autonomous obstacle avoidance. This paper mainly improves the updating method of pheromone concentration in ant colony algorithm, and then applies RFID technology to path planning. This paper introduces the biological description of ant colony algorithm, then introduces the traveling salesman problem and ant colony algorithm, and then introduces three improved ant colony algorithm systems. Then a new pheromone improvement method is proposed. The feasibility of the method is verified by experiments, and the efficiency of the algorithm is improved, and the defect that the algorithm can easily get into the local minimum point is overcome. The large map can be segmented into a lot of equal small map, each small map using the new ant colony algorithm for path planning, to maximize the efficiency of the algorithm. Extend the application of the algorithm in other fields. Then, the RFID technology is applied to path planning, using the method of message transfer between RFID technology, the way of information processing and feedback by computer. It solves the problem of searching for the optimal path by grid method infinite subdivision. The communication function between RFID technology information and robot search is also solved. According to the grid map information on the received electronic label. Ant colony algorithm (ACA) is used to plan the optimal path, and the feedback is turned into a local map, and then the path planning is completed.
【学位授予单位】：江西理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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