移动机器人区域定位设计与分析

发布时间：2019-01-06 06:15

【摘要】：灵活性低一直是困扰区域定位技术进一步应用的首要问题,本文主要目的是通过移动机器人区域定位设计与分析,探索一种主动式区域定位方法。研究内容包括三个部分:定位技术分析与实现,移动机器人设计,算法研究与测试。在定位技术分析与实现中,本文经过对无线定位技术分析后,采用了 Zigbee无线定位技术,实现了 Zigbee模块的硬件和软件开发;在移动机器人设计中,本文完成了移动机器人结构设计和控制方案设计。在结构设计过程中,基于triz理论,设计了履带-四旋翼结构作为移动机器人的整体结构。在控制设计过程中,基于对移动机器人运动形式的分析,设计了双环电机转速控制方法和环形控制方法;在算法研究与测试中,基于对实验数据分析,设计了二重均值拟合测距算法和二重均值KNN测距算法。通过对测距算法测试及分析,发现在本次实验中,二重均值KNN测距算法整体性能优于二重均值拟合测距算法。基于测距算法和三边测量法,实施了主动式定位实验,由实验结果发现定位误差均小于一米。论文研究结果表明:本文设计的移动机器人区域定位是一种有效的主动式区域定位方法,对提高区域定位技术的灵活性有一定的参考价值。
[Abstract]:Low flexibility has always been the primary problem for the further application of regional positioning technology. The main purpose of this paper is to explore an active regional location method through the design and analysis of mobile robot regional positioning. The research includes three parts: positioning technology analysis and implementation, mobile robot design, algorithm research and testing. In the analysis and implementation of the positioning technology, after the analysis of the wireless positioning technology, the Zigbee wireless positioning technology is adopted to realize the hardware and software development of the Zigbee module. In the design of mobile robot, this paper completes the structure design and control scheme design of mobile robot. In the process of structure design, based on triz theory, the crawler-four rotor structure is designed as the whole structure of mobile robot. In the process of control design, based on the analysis of mobile robot motion, the speed control method and annular control method of double-ring motor are designed. In the research and test of the algorithm, based on the analysis of the experimental data, the double mean fitting ranging algorithm and the double mean KNN ranging algorithm are designed. Through the test and analysis of the ranging algorithm, it is found that in this experiment, the overall performance of the dual mean KNN ranging algorithm is better than that of the double mean fitting ranging algorithm. Based on the ranging algorithm and the trilateral measurement method, the active positioning experiment is carried out. The results show that the positioning error is less than one meter. The research results show that: the mobile robot region location designed in this paper is an effective active region location method, which has certain reference value to improve the flexibility of the area location technology.
【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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