多机器人路径规划与协作作业设计及应用研究

发布时间：2018-03-13 02:23

本文选题：路径规划　切入点：作业规划　出处：《哈尔滨商业大学》2017年硕士论文　论文类型：学位论文

【摘要】：在各种试探性应用中,人们发现:对于复杂的环境、交错的作业任务,单体机器人有时显得力不从心。于是,同时运用多个单体机器人,通过多机器人之间的分工协作来完成任务的思路开始出现。相比于单体机器人,多机器人的协作具有诸多明显的优势:第一,多个机器人在任务执行过程中可以分布式排列,增大作业空间和覆盖范围;第二,多个机器人可以实现并行方式的作业,加快任务的完成速度;第三,多个机器人之间可以实现信息通信,建立局部到全局的信息网络;第四,多个机器人之间的协同配合,有利于完成大型的复杂任务。本文针对多机器人协作这一问题展开研究,开展得具体工作如下:第一,深入分析了基于人工势场法的机器人路径规划策略,明确了其存在两个问题:目标不可达问题,容易陷入局部极小陷阱问题。针对这两个问题进行了改进,对斥力场函数进行修正,增加各机器人之间的信息交流,进而提出了改进人工势场法模型,有效地解决了多机器人的路径规划问题。第二,从齐次变换、旋转变换的空间位置关系的基本理论出发,对机器人正运动学、机器人逆运动学等理论进行了深入的分析。在此基础上,分析了三自由度机器人,构建了其雅可比矩阵,并对其末端进行了作业轨迹规划分析,得出了其过渡时间、加速度曲线、速度曲线、位移曲线,为后续的多机器人协作作业奠定了运动学基础。第三,在机器人路径规划、机器人运动学分析、机器人作业轨迹规划等研究的基础上,对多机器人的协作作业进行了仿真实验研究。搭建多机器人协作平台,完成重物抓取和重物搬运等仿真试验,验证避碰理论以及作业规划理论的有效性。
[Abstract]:In all kinds of tentative applications, it has been found that for complex environments and interlaced tasks, monolithic robots sometimes seem to be unable to cope with them. So, multiple monolithic robots are used at the same time. The idea of accomplishing tasks through the division of labor and cooperation among multi-robots is beginning to emerge. Compared with single-robot, the cooperation of multi-robots has many obvious advantages: first, multiple robots can be arranged distributed in the course of task execution. Increase the job space and coverage; second, multiple robots can achieve parallel operations, speed up the completion of tasks; third, multiple robots can achieve information communication, building local to global information network; 4th, The cooperative cooperation among multiple robots is beneficial to the completion of large and complex tasks. In this paper, the problem of multi-robot cooperation is studied, and the specific work is as follows: first, In this paper, the robot path planning strategy based on artificial potential field method is deeply analyzed, and two problems are clarified: the problem of target unreachability and the problem of falling into local minima trap. The repulsion field function is modified to increase the information exchange among the robots, and then an improved artificial potential field model is proposed, which effectively solves the path planning problem of multi-robots. Based on the basic theory of spatial position relation of rotation transformation, the forward kinematics and inverse kinematics of robot are deeply analyzed. On this basis, a 3-DOF robot is analyzed and its Jacobian matrix is constructed. Finally, the transition time, acceleration curve, velocity curve and displacement curve are obtained, which lays the kinematics foundation for the subsequent multi-robot cooperative operation. Third, in the robot path planning, On the basis of robot kinematics analysis and robot trajectory planning, the simulation experiments of multi-robot cooperative operation are carried out. The platform of multi-robot cooperation is built, and the simulation experiments such as grabbing heavy objects and carrying heavy objects are completed. Verify the effectiveness of collision avoidance theory and operational planning theory.
【学位授予单位】：哈尔滨商业大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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