基于人工路标的室内机器人导航方法研究与实现

发布时间：2018-06-13 22:38

本文选题：室内环境 + 移动机器人　；参考：《中国科学技术大学》2017年硕士论文

【摘要】：伴随着计算机和传感器技术的不断发展,针对移动机器人的技术研究成为了全球热点问题。在室内移动机器人的技术研究中,导航技术一直是其研究核心。解决好移动机器人实时准确的定位问题,是移动机器人在室内环境中进行自主导航的关键。针对现有的移动机器人导航方法,普遍存在难以同时保证导航准确性和实时性的问题,本文探索了基于人工路标的室内机器人导航方法。首先,从人工路标的设计着手,并相应地提出快速准确且抗干扰的路标识别算法,从而辅助移动机器人自主定位和导航。本文具体工作内容与贡献包括:1.提出了一种基于人工路标的室内移动机器人定位和导航方法。以往的人工路标设计方案,其识别准确率低,而且难以满足导航实时性的要求。因此,本文设计了两种人工路标:纠偏人工路标和定位人工路标,且相应地提出了快速准确的路标识别算法。机器人实时准确地识别定位人工路标,查询路径规划关系表,获取执行命令信息,并根据识别的纠偏人工路标来调整导航偏差,使得机器人可以沿着事先规划好的路径顺利前行。通过实验表明,在室内光线条件下,两种人工路标的识别准确率高,识别速度快,从而保证了移动机器人能够实时、准确地完成室内导航任务。2.提出了一种人工路标辅助室内移动机器人里程计法导航的方法。移动机器人采用里程计法长距离导航时,定位精度下降很快。因此,本文设计了能快速准确识别的人工路标,来修正机器人里程计法的导航偏差,并通过卡尔曼滤波将人工路标定位和里程计法定位的信息有效地融合起来。实验结果表明,该方法在保证移动机器人导航时的准确性和实时性要求的同时,又有效地提高了移动机器人里程计法导航时的精度和鲁棒性。3.利用上述研究成果,结合充电装置辅助的移动机器人自主充电的方法,从而构建了室内移动机器人自主导航系统,并取得良好的导航效果。
[Abstract]:With the development of computer and sensor technology, the research of mobile robot technology has become a global hot topic. In the research of indoor mobile robot, navigation technology has always been the core of its research. To solve the problem of mobile robot's real time and accurate location is the key to autonomous navigation of mobile robot in indoor environment. Aiming at the existing navigation methods of mobile robot, it is difficult to guarantee the accuracy and real-time of navigation at the same time. In this paper, the indoor robot navigation method based on artificial road sign is explored. Firstly, starting with the design of artificial signpost, a fast and accurate anti-jamming algorithm is proposed to assist the mobile robot to locate and navigate independently. The specific contents and contributions of this paper include: 1. An indoor mobile robot location and navigation method based on artificial road signs is proposed. In the past, the recognition accuracy of artificial signpost is low, and it is difficult to meet the requirement of real-time navigation. Therefore, this paper designs two kinds of artificial signposts: rectifying artificial signposts and locating artificial signposts, and proposes a fast and accurate algorithm for identifying road signs accordingly. The robot can identify and locate the manual road sign accurately, query the path planning relation table, obtain the execution command information, and adjust the navigation deviation according to the identified manual road sign. So that the robot can follow the planned path smoothly. The experimental results show that the recognition accuracy of the two artificial road signs is high and the recognition speed is fast under the condition of indoor light, thus ensuring the mobile robot to complete the indoor navigation task .2in real time. In this paper, an artificial road sign is presented to assist the navigation of indoor mobile robot with odometer. When the mobile robot uses the mileage method for long distance navigation, the positioning accuracy decreases rapidly. Therefore, this paper designs an artificial road sign which can be quickly and accurately identified to correct the navigation deviation of the robot odometer method, and combines the information of the manual landmark location with the odometer location effectively by Kalman filter. Experimental results show that this method not only ensures the accuracy and real-time requirements of mobile robot navigation, but also effectively improves the accuracy and robustness of mobile robot odometer navigation. Based on the above research results and the method of self-charging of mobile robot assisted by charging device, the autonomous navigation system of indoor mobile robot is constructed, and good navigation effect is obtained.
【学位授予单位】：中国科学技术大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP242

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