多移动机器人编队问题研究

发布时间：2018-01-19 01:03

本文关键词： 编队控制领航-跟随法视觉识别　出处：《河北工业大学》2015年硕士论文　论文类型：学位论文

【摘要】：21世纪以来机器人技术得到了飞速的发展,各种功能各种型号的机器人被从事机器人研究的科学工作者们研究开发出来,这种情况下,机器人与机器人之间存在各种各样的关系,相互制约或相互合作,因此我们科研人员需要以发展的眼光来看待这个问题,尽快的投入到相应的学科研究中去,比如在机器人协作、信息融合以及机器人避免碰撞问题上进行深入研究。其中多机器人协作问题属于一个系统问题,从中可以衍生出众多科研分支,如多机器人编队、多机器人路径规划、多机器人避障、多机器人围捕等领域。本课题主要在多机器人编队问题中进行深入研究,就目前而言多机器人编队中需要解决的问题有:如何初始化和建立一个编队模型;编队成功后如何保持队形;多机器人在运动过程中怎样避免相互碰撞或者怎样躲避环境中的障碍物;多机器人怎么来改变队形,从而适应环境;多机器人在不同环境中进行怎么的编队比较合理等。并且研究的对象方法等也不相同,比如有分布式结构的、集中式结构的、同构机器人、异构机器人、基于模糊控制的或者基于传感器网络的。因此在众多的科研方向中,寻找一个适合自己的方向持续研究下去显得非常重要。本课题主要研究的是多个同构移动机器人,以分布式结构,基于视觉的编队问题。主要的工作有以下几个方面:设计开发一个具有视觉功能、图像识别功能,通信组网功能以及精确的伺服控制功能的移动机器人单元。(1)实现移动机器人的伺服控制;(2)研究OPENCV中的图像识别功能在机器人编队中的应用;(3)通过机器人的视觉反馈,实现对机器人的自动控制;(4)讨论多个机器人的组网通信问题,信息共享问题;(5)利用Leader-Follower法,采用分布式视觉的组织方式实现多个机器人的线形编队;
[Abstract]:Since 21th century, robot technology has been rapidly developed, various types of robots have been developed by scientists engaged in robot research, in this case. There are various relationships between robots and robots, which restrict each other or cooperate with each other. Therefore, we researchers need to look at this problem from the perspective of development and invest in the corresponding subject research as soon as possible. For example, the problems of robot collaboration, information fusion and robot collision avoidance are studied in depth, in which multi-robot collaboration is a systemic problem, from which many branches of research can be derived. Such as multi-robot formation, multi-robot path planning, multi-robot obstacle avoidance, multi-robot capture and other fields. At present, the problems that need to be solved in multi-robot formation are: how to initialize and build a formation model; How to maintain formation after successful formation; How to avoid collision with each other or how to avoid obstacles in the environment; How to change the formation of multi-robot to adapt to the environment; The object methods studied are different, such as distributed structure, centralized structure, isomorphic robot and heterogeneous robot. Based on fuzzy control or sensor networks. Therefore, in many scientific research directions. It is very important to find a suitable direction for continuous research. In this paper, we mainly study multiple isomorphic mobile robots with distributed architecture. Visual formation problem. The main work is as follows: design and develop a visual function, image recognition function. The mobile robot unit of communication networking function and precise servo control function realizes the servo control of mobile robot; 2) the application of image recognition function in OPENCV in robot formation is studied. 3) realize the automatic control of the robot through the visual feedback of the robot; (4) discuss the problem of networking communication and information sharing of multiple robots; 5) using Leader-Follower method and distributed vision organization to realize the linear formation of multiple robots.
【学位授予单位】：河北工业大学
【学位级别】：硕士
【学位授予年份】：2015
【分类号】：TP242

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