室内移动机器人路径规划及轨迹跟踪控制研究

发布时间：2018-04-08 08:17

本文选题：移动机器人　切入点：路径规划　出处：《哈尔滨工业大学》2017年硕士论文

【摘要】：移动机器人路径规划以及路径跟踪控制是机器人领域一个非常重要的部分,更是移动机器人完成更复杂任务的基础。如何使移动机器人在已知或未知环境下快速准确地规划出一条最优且无碰撞路径并进行准确地跟踪控制是一个富有挑战性的研究课题。随着移动机器人技术的进一步发展,其重要性也将越来越凸显。本文主要是来研究在已知的结构化环境中移动机器人路径规划、路径平滑以及路径跟踪控制的算法,提出了一种改进的A*算法的路径规划方法,并设计出了基于backstepping思想的移动机器人轨迹跟踪控制算法。首先,利用栅格法进行了移动机器人工作环境建模,在此基础上,分别利用Dijkstra算法和A*算法进行了移动机器人路径规划仿真实验,对两种路径规划方法进行了对比,针对以曼哈顿距离为启发函数的A*算法搜索量较大的问题,本文提出了改进A*算法,并对改进A*算法进行了移动机器人路径规划仿真实验,验证了所提出的改进A*算法的优越性。其次,基于极多项式曲线以及B样条样条曲线的移动机器人轨迹平滑算法,在Matlab中进行了仿真实验,根据仿真实验结果比较了二者的优缺点,最终选择非均匀B样条移动机器人轨迹平滑。再次,建立了移动机器人的运动学模型,根据backstepping的思想,设计出了移动机器人的轨迹跟踪控制算法,并针对不同的轨迹对所设计的控制算法在仿真软件中进行了移动机器人的路径跟踪控制仿真实验验证,实验结果表明所设计的控制算法稳定有效,具有较好的抗干扰能力。在完成移动机器人上层算法的设计之后,本文还进行了移动机器人嵌入式控制系统硬件设计。最后,利用所搭建的移动机器人系统,在室内环境下进行了移动机器人路径规划及路径跟踪控制实验,验证了所提出的改进A*算法以及基于backstepping思想的移动机器人轨迹跟踪控制算法。实验结果可以实现从起始点到终止点的最优无碰路径,跟踪效果良好,证明了所设计算法的有效性。
[Abstract]:Path planning and path tracking control of mobile robot is a very important part of robot field, and it is also the foundation of mobile robot to accomplish more complex tasks.How to make the mobile robot plan an optimal collision free path quickly and accurately in a known or unknown environment and track and control accurately is a challenging research topic.With the further development of mobile robot technology, its importance will be more and more prominent.In this paper, the algorithms of path planning, path smoothing and path tracking control for mobile robot in known structured environment are studied, and an improved path planning method of A * algorithm is proposed.A trajectory tracking control algorithm for mobile robot based on backstepping is designed.Firstly, the mobile robot working environment is modeled by grid method. On this basis, the simulation experiments of mobile robot path planning are carried out using Dijkstra algorithm and A * algorithm respectively, and the two path planning methods are compared.In order to solve the problem that the algorithm based on Manhattan distance is a heuristic function, the improved A * algorithm is proposed in this paper, and the improved A * algorithm is simulated in the path planning of mobile robot.The superiority of the improved A * algorithm is verified.Secondly, the trajectory smoothing algorithm of mobile robot based on polar polynomial curve and B-spline curve is simulated in Matlab. The advantages and disadvantages of the two algorithms are compared according to the simulation results.Finally, the non-uniform B-spline mobile robot is chosen to smooth the trajectory.Thirdly, the kinematics model of mobile robot is established. According to the idea of backstepping, the trajectory tracking control algorithm of mobile robot is designed.The simulation results of path tracking control of mobile robot show that the proposed control algorithm is stable and effective and has good anti-jamming ability.After completing the design of the upper layer algorithm of the mobile robot, the hardware design of the embedded control system of the mobile robot is also carried out in this paper.Finally, the path planning and path tracking control experiments of mobile robot are carried out in the indoor environment by using the built mobile robot system.The improved A * algorithm and the trajectory tracking control algorithm based on backstepping are verified.The experimental results show that the optimal collision free path from the starting point to the end point can be realized and the tracking effect is good. The effectiveness of the proposed algorithm is proved.
【学位授予单位】：哈尔滨工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

【参考文献】