基于路径规划及避障的自主导览互动讲解机器人研制

发布时间：2018-11-01 14:49

【摘要】：项目需求研制一款自主导览互动讲解机器人,该机器人主要用在大型展览馆、会展中心等地方,引导参访者沿着固定路线参访,兼备避障功能,并在几个固定点向参访者解说以及进行简单对话。本课使用Robotino机器人作为研究平台,主要针对机器人的路径循迹、避障和固定点定位进行可行性分析和验证。首先本文是以Festo公司生产的Robotino机器人作为研究平台,介绍了Robotino的软硬件配置。然后对摄像头循迹和电感传感器循迹进行了研究与试验,其中摄像头循迹受光线影响较大,电感传感器循迹容易受到路面杂物影响,且二者都需要有明显的指示标志,在实际应用环境中不够美观。综合考虑这些因素,同时参考飞思卡尔电磁组比赛,电磁循迹方式不容易受到外界环境的干扰,运行更加稳定,且可以预埋导线。该方案与项目需求更加契合,故选定以电磁循迹作为机器人的最终路径规划方式。接着比较了两种电磁检测方案,基于双线圈的检测方案与基于七线圈的检测方案,实验仿真进行比较,选定以双线圈检测方式作为机器人路径循迹的最终检测方案。其次分析了基于超声波传感器、红外距离传感器和基于两者信息融合使用的避障算法。结合Robotino自带的9个红外传感器和防碰撞传感器,辅以惯性导航技术,提出了3种情况下的避障策略以应对应用环境中的复杂状况,且在机器人平台上进行了验证。最后针对项目中机器人需要在循迹路径上的几个固定点停止运动的问题进行了研究。基于RFID无线射频技术可以实现无接触识别,能够预埋,且每个射频卡序列号唯一的特点,以此满足机器人固定点定位的需求。本课题选用了飞利浦公司生产的Mifare1射频卡,其工作频率为13.56MHz,介绍了射频卡与阅读器的通信方式以及在Robotino机器人上的安装位置,并通过实验验证了其可行性。
[Abstract]:The project requires the development of a self-guided interactive explaining robot, which is mainly used in large exhibition halls, exhibition centers, and other places to guide visitors to visit along a fixed route, with the function of avoiding obstacles. And at several fixed points to the interviewee explanation and simple dialogue. In this lesson, Robotino robot is used as the research platform to analyze and verify the feasibility of the robot's path tracking, obstacle avoidance and fixed point location. Firstly, this paper introduces the hardware and software configuration of Robotino based on the Robotino robot produced by Festo Company. Then, the research and test of camera track and inductance sensor track are carried out. Among them, the camera track is greatly affected by light, the inductance sensor track is easily affected by road debris, and both of them need to have obvious indication marks. It is not beautiful enough in the practical application environment. Considering these factors and referring to the Freescale electromagnetic group competition, the electromagnetic track mode is not easily disturbed by the external environment, and the operation is more stable, and the wire can be buried in advance. This scheme is more in line with the requirements of the project, so EMR is chosen as the final path planning method of the robot. Then two kinds of electromagnetic detection schemes are compared, which are based on two coils and seven coils, and the experimental simulation results show that the dual-coil detection method is chosen as the final detection scheme of robot path tracking. Secondly, the obstacle avoidance algorithm based on ultrasonic sensor, infrared distance sensor and information fusion is analyzed. Combined with 9 infrared sensors and anti-collision sensors of Robotino and inertial navigation technology, three obstacle avoidance strategies are proposed to deal with the complex situation in the application environment, and verified on the robot platform. Finally, the problem that the robot needs to stop moving at several fixed points on the track path in the project is studied. Wireless radio frequency technology based on RFID can realize contactless identification, can be embedded, and each radio frequency card sequence number is unique to meet the needs of robot fixed point location. The Mifare1 RF card produced by Philips is selected in this paper. Its working frequency is 13.56 MHz. The communication mode between RF card and reader and the installation position on Robotino robot are introduced. The feasibility of the card is verified by experiments.
【学位授予单位】：兰州理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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