基于航迹推算的全向移动机器人定位及磁导航的研究

发布时间：2018-11-03 20:17

【摘要】：移动机器人的定位与导航是其主要的功能,也是目前研究领域的热点和难点。本文针对室内定位机器人,以三轮航迹推算定位方式为基础,设计了一款全向移动机器人,重点进行了磁导航实验的设计和避障功能的实现,具体工作包括:对当前机器人领域的智能移动机器人研究现状、机器人定位及导航技术研究现状进行了综述。进行了轮式移动机器人运动机构的分析,在此基础上设计制造了一款具有主、从动轮系统的、具有高负载能力且具有减震功能的全向移动机器人。对机器人整体结构、轮子的传动机构、弹簧减震机构等进行了详细的介绍。进行了机器人硬件方案的选型和设计。选用STM32F103VET6作为机器人的主控芯片、设计了基于旋转编码器的航迹推算定位模块,完成电机驱动模块伺服电机的设计计算和驱动器的选型,使用超声波传感器和视觉传感器作为磁导航的避障模块,完成机器人硬件系统的设计和硬件电路的搭建。对机器人主动轮系统的运动进行了分析,推导出麦克纳姆轮全向移动机构的运动学方程。建立了机器人三轮全向移动的运动学模型,得到从动轮转速与机器人位姿之间的关系,推导了三轮航迹推算定位算法,对该算法进行了实验验证,并对定位误差进行了分析。通过采集前、后磁传感器的信号,分析机器人与磁条位置关系进行机器人横向定位,结合航迹推算算法实现机器人纵向定位,并通过超声波传感器测距和视觉传感器测量障碍物横向尺寸确定障碍物轮廓,进行了避障功能的设计,最终实现机器人的磁导航功能,并分析了导航误差。结果表明本课题设计的全向移动机器人底盘结构满足负载和强度要求,采用的航迹推算算法基本满足室内定位要求,为移动机器人定位的研究提供了理论支持和实验参考。
[Abstract]:The localization and navigation of mobile robot is its main function, and it is also a hot and difficult research field. In this paper, a omnidirectional mobile robot is designed on the basis of three-wheeled track reckoning positioning method for indoor positioning robot. The design of magnetic navigation experiment and the realization of obstacle avoidance function are emphasized. The specific work includes: the current research status of intelligent mobile robot in the field of robot, robot localization and navigation technology are summarized. Based on the analysis of the motion mechanism of wheeled mobile robot, an omnidirectional mobile robot with high load capacity and shock absorption function is designed and manufactured, which has the main and slave drive wheel system. The whole structure of the robot, the transmission mechanism of the wheel and the spring damping mechanism are introduced in detail. The selection and design of robot hardware scheme are carried out. STM32F103VET6 is selected as the main control chip of the robot, and the track reckoning and positioning module based on rotary encoder is designed. The design and calculation of servo motor of motor driving module and the selection of driver are completed. Using ultrasonic sensor and vision sensor as obstacle avoidance module of magnetic navigation, the design of robot hardware system and the construction of hardware circuit are completed. The kinematics equation of McNum wheel omnidirectional moving mechanism is derived by analyzing the motion of robot active wheel system. The kinematics model of robot three-wheel omni-directional movement is established, and the relationship between the rotation speed and robot position is obtained. The algorithm of three-wheel track reckoning is deduced, and the algorithm is verified experimentally and the positioning error is analyzed. By collecting the signal of the magnetic sensor before and after, the relationship between the robot and the magnetic stripe is analyzed to locate the robot laterally, and the longitudinal location of the robot is realized by combining the algorithm of track calculation. The obstacle profile is determined by ultrasonic sensor ranging and visual sensor measurement of obstacle lateral dimension, and the obstacle avoidance function is designed. Finally, the magnetic navigation function of the robot is realized, and the navigation error is analyzed. The results show that the chassis structure of the omnidirectional mobile robot designed in this paper can meet the requirements of load and strength, and the track reckoning algorithm can basically meet the indoor positioning requirements, which provides theoretical support and experimental reference for the research of mobile robot positioning.
【学位授予单位】：南京理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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