基于激光雷达的移动机器人避障研究
发布时间：2019-02-16 12:49
【摘要】：随着传感器技术、工艺制造水平、先进控制理论的进一步发展,以及日益增长的行业需求,机器人产业开始蓬勃发展起来。由此,面向各种领域、环境的机器人应运而生,其中移动机器人能够在很多危险环境中代替人工劳动,比如地震救灾、排除爆炸物品以及在战场上执行军事任务等等。移动机器人避障方面的研究对于移动机器人完成上述任务具有重要意义。本文完成了基于单线激光雷达传感器的移动机器人避障系统的软硬件设计。将单片机作为移动机器人底层硬件平台的控制核心,用于对PC机发送过来的控制指令进行解码,进而发送相应的控制信号给无刷电机驱动器以驱动无刷电机,最终实现对移动机器人的控制。在避障系统传感器选取方面,本文研究了单线激光雷达传感器的工作特性。为增强对比,随后对超声波接近开关传感器进行特性研究,并且在PC机上设计了对上述传感器回传的环境数据信息的实时显示界面。在避障算法的设计方面,将上述传感器数据显示界面区域划分为紧急避障区、避障区以及远离避障区,对环境障碍物信息进行编码,不同区域采取不同的避障动作行为。实验表明单线激光雷达传感器比超声波接近开关传感器在数据采集方面更全面、快速并且探测距离更远。本文设计了基于单线激光雷达传感器的避障控制系统,另外,还进行了基于此避障系统的软件动态链接库封装设计。实验结果表明该避障控制系统满足此轮式移动机器人的避障需求,并且增强了该系统的跨平台开发以及算法移植的方便性特点。此外,以该系统为平台,在单线激光雷达提供的环境障碍物信息的条件下,设计了基于BP神经网络的移动机器人避障系统。在室内以及走廊等环境下进行了相关避障实验,实验表明该BP神经网络避障控制算法增强了整个系统的自学习能力,能够实现无碰撞的从起始点到目标点的运动要求。
[Abstract]:With the further development of sensor technology, process manufacturing level, advanced control theory, and the increasing demand of the industry, the robot industry began to flourish. As a result, environmental robots emerge as the times require, in which mobile robots can replace artificial labor in many dangerous environments, such as earthquake relief, removal of explosive objects and military missions on the battlefield, and so on. The research on obstacle avoidance of mobile robot is of great significance for mobile robot to accomplish the above tasks. In this paper, the hardware and software design of obstacle avoidance system for mobile robot based on single line laser radar sensor is completed. The MCU is used as the control core of the bottom hardware platform of the mobile robot, which is used to decode the control instructions sent by the PC machine, and then send the corresponding control signal to the brushless motor driver to drive the brushless motor. Finally, the control of mobile robot is realized. In the aspect of selecting sensors for obstacle avoidance system, the working characteristics of single-line lidar sensors are studied in this paper. In order to enhance the contrast, the characteristics of ultrasonic proximity switch sensor are studied, and the real-time display interface of the environmental data information returned by the sensor is designed on the PC computer. In the design of obstacle avoidance algorithm, the display interface area of the sensor data is divided into emergency obstacle avoidance area, obstacle avoidance area and remote obstacle avoidance area. The information of environmental obstacle is encoded, and different regions take different action of obstacle avoidance. The experimental results show that the single line laser radar sensor is more comprehensive, faster and more remote than the ultrasonic proximity switch sensor in data acquisition. In this paper, the obstacle avoidance control system based on single line laser radar sensor is designed. In addition, the software dynamic link library encapsulation design based on this obstacle avoidance system is also carried out. The experimental results show that the obstacle avoidance control system meets the obstacle avoidance requirements of the wheeled mobile robot and enhances the cross-platform development of the system and the convenience of algorithm transplantation. In addition, a mobile robot obstacle avoidance system based on BP neural network is designed based on the environment obstacle information provided by single line lidar. Related obstacle avoidance experiments are carried out in indoor and corridor environments. The experiment results show that the BP neural network obstacle avoidance control algorithm enhances the self-learning ability of the whole system and can realize the motion requirements from the starting point to the target point without collision.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
本文编号：2424470
[Abstract]:With the further development of sensor technology, process manufacturing level, advanced control theory, and the increasing demand of the industry, the robot industry began to flourish. As a result, environmental robots emerge as the times require, in which mobile robots can replace artificial labor in many dangerous environments, such as earthquake relief, removal of explosive objects and military missions on the battlefield, and so on. The research on obstacle avoidance of mobile robot is of great significance for mobile robot to accomplish the above tasks. In this paper, the hardware and software design of obstacle avoidance system for mobile robot based on single line laser radar sensor is completed. The MCU is used as the control core of the bottom hardware platform of the mobile robot, which is used to decode the control instructions sent by the PC machine, and then send the corresponding control signal to the brushless motor driver to drive the brushless motor. Finally, the control of mobile robot is realized. In the aspect of selecting sensors for obstacle avoidance system, the working characteristics of single-line lidar sensors are studied in this paper. In order to enhance the contrast, the characteristics of ultrasonic proximity switch sensor are studied, and the real-time display interface of the environmental data information returned by the sensor is designed on the PC computer. In the design of obstacle avoidance algorithm, the display interface area of the sensor data is divided into emergency obstacle avoidance area, obstacle avoidance area and remote obstacle avoidance area. The information of environmental obstacle is encoded, and different regions take different action of obstacle avoidance. The experimental results show that the single line laser radar sensor is more comprehensive, faster and more remote than the ultrasonic proximity switch sensor in data acquisition. In this paper, the obstacle avoidance control system based on single line laser radar sensor is designed. In addition, the software dynamic link library encapsulation design based on this obstacle avoidance system is also carried out. The experimental results show that the obstacle avoidance control system meets the obstacle avoidance requirements of the wheeled mobile robot and enhances the cross-platform development of the system and the convenience of algorithm transplantation. In addition, a mobile robot obstacle avoidance system based on BP neural network is designed based on the environment obstacle information provided by single line lidar. Related obstacle avoidance experiments are carried out in indoor and corridor environments. The experiment results show that the BP neural network obstacle avoidance control algorithm enhances the self-learning ability of the whole system and can realize the motion requirements from the starting point to the target point without collision.
【学位授予单位】：沈阳理工大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242
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