(中文)室内巡视机器人设计和仿真实现(英文)Indoorpat

1本科毕业设计（论文）题目：（中文）室内巡视机器人设计和仿真实现（英文）Indoorpatrolrobotdesignandsimulation学院专业班级学号姓名指导教师职称完成日期室内巡视机器人设计和仿真实现2诚信承诺我谨在此承诺：本人所写的毕业论文《室内巡视机器人设计和仿真实现》均系本人独立完成，没有抄袭行为，凡涉及其他作者的观点和材料，均作了注释，若有不实，后果由本人承担。承诺人（签名）：年月日宁波大学信息科学与工程学院本科毕业设计（论文）3室内巡视机器人设计和仿真实现【摘要】巡视机器人是一个集环境感知、路线规划、动态决策、行为控制等功能集于一体的综合系统，采用巡视机器人进行定点监控巡视或不间断自动巡视将是目前一种可行的解决方案。将机器人用于巡视工作，具有广阔的应用前景。本文以自主移动机器人为平台，主要任务与目标是在RoboticStudio仿真系统中建立差分驱动轮式移动机器人进行巡视仿真环境，通过获取激光数据和摄像头数据来完成路径规划，避障和实时监控，设计手动控制界面来手动控制机器人进行巡视。【关键词】移动机器人；路径规划；避障；巡视；仿真；【Abstract】Withtheconstantlyexpandingthesizeandnumberofsocialandeconomicdevelopment,supermarkets,airports,railwaystations,exhibitioncentersandlogisticswarehousesandotherlarge-scaleflowofpassengersandplaces,largeandmedium-sizedcitiesofhigh-level,high-endcommercialbuildings,anincreasingnumber,theautomationneedsoftheincreasinglyurgent.Thepatrolrobotisasetofenvironmentalperception,routeplanning,dynamicdecision-making,behaviorcontrolfunctionsintooneintegratedsystem,patrolrobotsentinelsurveillancevisitsorcontinuousautomaticinspectionwillbeaviablesolution.Therobotfortheinspectionworkhasbroadapplicationprospects.Inthispaper,theautonomousmobilerobotplatform,themaintaskandgoaldifferentialdrivewheeledmobilerobotsintheRoboticStudiosimulationsystemtoconductaninspectionofthesimulationenvironment,byacquiringlaserdataandcameradatapathplanning,obstacleavoidanceandreal-timemonitoringdesignmanualcontrolinterfacetomanuallycontroltherobottoconductaninspection.【Keywords】MobileRobot；PathPlanning；ObstacleAvoidance；Inspections；Simulation；室内巡视机器人设计和仿真实现4目录1绪论..................................................................................................................................................11.1引言.........................................................................................................................................11.2移动机器人的研究内容及发展趋势......................................................................................11.2.1移动机器人的国内外研究现状.....................................................................................11.2.2移动机器人的发展趋势.................................................................................................21.3论文的主要内容.....................................................................................................................22室内巡视机器人设计的总体方案..................................................................................................32.1研究任务.................................................................................................................................32.2仿真机器人的组成.................................................................................................................32.2.1激光传感器.........................................................................................................................32.2.2摄像头.................................................................................................................................32.2.3差分驱动轮.........................................................................................................................42.3室内巡视机器人的开发环境..................................................................................................52.3.1仿真环境MICROSOFTROBOTICSDEVELOPERSTUDIO2008R3.........................................52.3.2编程环境VISUALSTUDIO2008...........................................................................................62.4仿真机器人的总体巡视方案..................................................................................................62.4.1总体巡视方案.....................................................................................................................62.4.2传感器数据接口.................................................................................................................62.4.3避障.....................................................................................................................................72.4.4路径规划.............................................................................................................................72.4.5实时监控.............................................................................................................................72.4.6手动控制.............................................................................................................................73仿真机器人巡视算法及实现..........................................................................................................83.1仿真环境建立及编程调试......................................................................................................83.1.1仿真环境建立.....................................................................................................................83.1.2控制程序的编写.................................................................................................................83.2避障.......................................................................................................................................103.2.1获取激光数据.......................................................................