轮式护理机器人室内智能导航控制技术研究

发布时间：2017-12-30 22:30

本文关键词：轮式护理机器人室内智能导航控制技术研究　出处：《合肥工业大学》2017年硕士论文　论文类型：学位论文

【摘要】：随着科学技术的发展,机器人技术得到了迅速发展,机器人的种类越来越多,功能越来越贴近人们的日常生活。轮式护理机器人作为社会服务领域的特种机器人,其本质上是为行动不便的老年人和下肢残障人士提供一款代步工具。对于以上行动不便的人群,复杂环境下的智能导航技术变得非常重要,本课题主要研究轮式护理机器人室内智能导航技术。首先,研究现有的室内定位技术、定位原理和室内定位方法,综合对比室内的定位技术的优缺点,根据轮式护理机器人工程技术要求选定ZigBee定位技术为本课题的定位技术之一。建立轮式护理机器人运动机构模型,根据运动机构特点,建立运动机构的坐标系统模型,运行学模型,室内环境模型等。对运动机构进行运动学分析,在此基础上提出一种改进的双切线近似航迹推算算法,将该算法与ZigBee定位技术相结合,应用于轮式护理机器人的在室内环境下的定位,并通过仿真试验验证混合定位技术的可行性。根据室内的环境特点,建立室内栅格网络地图,采用基于栅格法的A-star全局路径规划算法来实现从定位起点到定位终点的全局路径规划。在局部路径比较复杂的地方采用基于人工势场法来进行局部避障路径规划。路径规划好以后,采用PID控制算法进行全局路径的轨迹跟踪。最后对轮式护理机器人的导航控制系统进行设计。系统总体包括主控模块、定位模块、驱动模块、手机客户端模块、避障模块等。针对各模块不同的功能设计了相应的硬件电路和控制软件。
[Abstract]:With the development of science and technology, the robot technology has been developed rapidly, and there are more and more kinds of robots. The function is more and more close to people's daily life. Wheeled nursing robot is a special robot in the field of social service. It is essentially for the mobility of the elderly and the lower limb disability to provide a means of mobility. For the above people with mobility, the complex environment of intelligent navigation technology has become very important. This paper mainly studies the indoor intelligent navigation technology of wheeled nursing robot. Firstly, the existing indoor positioning technology, positioning principles and indoor positioning methods are studied, and the advantages and disadvantages of indoor positioning technology are comprehensively compared. According to the requirements of wheeled nursing robot engineering technology, ZigBee positioning technology is selected as one of the positioning technologies in this paper. The model of wheeled nursing robot motion mechanism is established, and according to the characteristics of motion mechanism. The coordinate system model, running model and indoor environment model of kinematic mechanism are established. Based on the kinematics analysis of kinematic mechanism, an improved algorithm of approximate track calculation of double tangent line is proposed. The algorithm is combined with the ZigBee positioning technology, and applied to the wheeled nursing robot positioning in indoor environment, and the feasibility of the hybrid positioning technology is verified by simulation experiments, according to the characteristics of indoor environment. Create an indoor grid map. An A-star global path planning algorithm based on grid method is used to realize the global path planning from the location starting point to the location destination. Where the local path is more complicated, the artificial potential field method is used to avoid the local path. Obstacle path planning. After path planning. The PID control algorithm is used to track the global path. Finally, the navigation control system of wheeled nursing robot is designed. The system includes main control module, positioning module and driving module. Mobile phone client module, obstacle avoidance module, etc. According to the different functions of each module, the corresponding hardware circuit and control software are designed.
【学位授予单位】：合肥工业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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