轮式机器人的实时障碍物识别和视觉导引

沈阳理工大学硕士学位论文轮式机器人的实时障碍物识别和视觉导引姓名：杨奇申请学位级别：硕士专业：控制理论与控制工程指导教师：付丽君2011-0316AbstractWiththedevelopmentofrobottechnology,thetrajectory-trackingandobstacledectectionofmonocularvisionmobilerobotispaidmoreandmoreattention.Themobilerobotewhichissteeredbytwofrontwheelsanddrivenbytworearwheels,hassimilarkinematicmodeltothatofafourwheelcar.Sothestudyonthetrajectory-trackingandobstacledectectionproblemofthemobilerobotissignificantforautomaticdriveofcaraswellasintelligenttransportation.Afterdiscussingparticularlythetechnologyofbarrierdetecitionformonocularvision.Byimitatingthepreviewdrvingbehaviorofhuman,thefuzzycontrolleradjuststhevelocity,thenumberofpreviewpointsandthepreviewdistanceonlineaccordingtothedifferentroadcondition.enablestheintelligentvehiclesystemtoachieveneedsstableandrapidrequest.Endofthisthesis,usearealcarwhichusesFREESCALE’sMC9S12XS128asthecontrolcoreandbeusetotrajectory-trackingexperiments.Theexperimentalresultsshowedthatsystemdesignedhastheadvantageofhighspeed,goodstabilityandstrongrobustness.KeywordsPreviewcontrol;Fuzzycontrol;systemofvision;pathidentification-1-11.120[1]60[2][3][4][5]-2-1.21.2.1RoboTrac121.2.2AutomaticGuidedVehicleAGV[6]BarrettElectric1953102070-3-2070802000Egmin2004DanaherNDC10--1520708090CIMSCIMS1.2.311953-4-23425[7]GPRS-5-1.2.4[7][8][9][10]1.316MC9S12XS128-6--7-22.12.1.1[13][14][15]MCU[14]MCUTrTr-8-a)rTrb)r2.1?T[i]=(Hb+Hw)/2;T[i+1]=T[i];NYYN2.1ab2.22.2a(b)-9-2.1.2MCU35[15]2.3-10-2.22.2.143312.5287.5287.52.42.4MCU-11-41442/4014/2884/40=4/402.52.5HLH=Lx4/32.62.6XHllinemax_linemax_l2-1YLrowlrow_rowmax_r2-2-12-2.2.22.72.7pPpxvyvP2x2yQ1pvpv1//xx//wx∴1pv//wx∴wx//p1vP2vQ2pvwx∴2pv//wx∴2vpwx2y=2O2V2x=2VP0.5H0.5Lp1x=vx-0.5H1y=yv-0.5L2O2VZV11y=yv-0.5LH2-3=fLyfyv5.0tantan111-=--2-42y=hhqbqbqbtantan1tantan)tan(-+=×+2-52-4-13-2y=hyLfLfyvvqqqtan)tan5.0()5.0tan×-×+-×+2-6p1VP2VwxZ2.82.8h1=qqsincos1×-×yfqqqqqsin)sin5.0cossin)5.0(cos×-×+×=×--×=vvyLfLyf2-7x2=12sin)sin5.0cos1xyLfhxhhvqqq×-+×=2-81x=vx-0.5H2y=hHLrrowHLHfHLHfHLrrowqqqtanmax_)tan5.0()5.0tan(max_-×+-×+2-92x=hHLrrowHLHfllinexhhqqqsinmax_)sin5.0cos()5.0max_(11-+-=2-10a=HLHf5.0tan-qb=qtan5.0HLHf+c=max_tanrHLqy2=hrowcbarowc×-+qtan2-11-14-x2=qcos)5.0max_(hrowcblline×--2-122-112-12qtan/cabchh/cos2xline2.92.92.3MCUMCU1/2(1)CPU(2)-15-(3)2.1.2jj+3j+2jj+3j+2jj+3(4)a24-5bc77d(5)(6)CPU3(4)-16-0(4)412.4(1)(2)(3)(4)-17-(5)(6)(7)2.10ab2.102.5-18-33.13.1.13.1AckmanaatanLR=3-1LaRKqO1RwΔ=•3-2-19-3.2Δkt1kt+w1R111cos()2sin()2kkkkkkkkxxyywqwqqqw+++⎧=+Δ•+⎪⎪⎪=+Δ•+⎨⎪=+⎪⎪⎩3-3tΔKqKxKy3.3Ley1R1tanLRy=3-43-23-4-20-1RLw=Δ3-53.33.41()LRRewΔ=-3-61()RRRewΔ=+3-7LRΔRRΔ1Δ3-63-722RLRLRRRRewΔ+ΔΔ-ΔΔ==3-8-21-Δw100()idiijiijiTTuKeeeeuTT-=⎡⎤=++-+⎢⎥⎣⎦∑3-8111cos()24sin()242RLRLkkkRLRLkkkRLkkRRRRxxeRRRRyyeRReqqqq+++Δ+ΔΔ-Δ⎧=+•+⎪⎪Δ+ΔΔ-Δ⎪=+•+⎨⎪Δ-Δ⎪=+⎪⎩3-93-93.1.2vyvtΔ=•ΔtanLywΔ•=3-3111tancos()2tansin()2tankkkkkkkkvtxxvtLvtyyvtLvtLyqyqyqq+++•Δ•⎧=+•Δ•+⎪⎪•Δ•⎪=+•Δ•+⎨⎪•Δ•⎪=+⎪⎩3-10⎪⎪⎪⎩⎪⎪⎪⎨⎧•Δ•+=⎟⎠⎞⎜⎝⎛•Δ•+•Δ•=Δ⎟⎠⎞⎜⎝⎛•Δ•+•Δ•=Δ+LtvLtvtvyLtvtvxkkkkyqqyqyqtan2tansin2tancos13-113.2-22-⎩⎨⎧+=+=kkkkLyyLxxqqsincos3-12⎩⎨⎧++=′++=′++)sin()cos(11wqwqkkkkLyyLxx3-133-123-13⎪⎪⎪⎩⎪⎪⎪⎨⎧•Δ•+=⎟⎠⎞⎜⎝⎛-•Δ•++⎟⎠⎞⎜⎝⎛•Δ•+•Δ•=′Δ⎟⎠⎞⎜⎝⎛-•Δ•++⎟⎠⎞⎜⎝⎛•Δ•+•Δ•=′Δ+LtvLtvLLtvtvyLtvLLtvtvxkkkkkkkkyqqqyqyqqyqyqtansin)tansin(2tansincos)tancos(2tancos13-14yvtΔxytancos(90)2tansin(90)2xLyLyyΔ•⎧Δ=Δ•°+⎪⎪⎨Δ•⎪Δ=Δ•°+⎪⎩3-15ΔvtΔ=•ΔΔxΔyxtansinxxcos00x=-23-3321tan3sin6cos12xxxxxxxx⎧≈+⎪⎪⎪≈-⎨⎪⎪≈-⎪⎩3-163-163-15⎪⎪⎪⎪⎩⎪⎪⎪⎪⎨⎧⎥⎦⎤⎢⎣⎡⎟⎠⎞⎜⎝⎛+ΔΔ-Δ=Δ⎥⎦⎤⎢⎣⎡⎟⎠⎞⎜⎝⎛+ΔΔ+Δ+Δ-=Δ223333322831483163LyLLxjjjjjj3-170.2Lm≈0.08mΔ≈300.53j≈⎪⎩⎪⎨⎧Δ≈ΔΔ-≈ΔyLx22j3-185.5⎟⎟⎠⎞⎜⎜⎝⎛0,tanjLjsinLjj2222sintanLyLx=+⎟⎟⎠⎞⎜⎜⎝⎛+3-19⎪⎪⎩⎪⎪⎨⎧=⎟⎟⎠⎞⎜⎜⎝⎛+=qjqjjsinsincostansin11LyLLx3-203.5-24-⎪⎪⎩⎪⎪⎨⎧⎟⎟⎠⎞⎜⎜⎝⎛-⎟⎠⎞⎜⎝⎛Δ+=Δ⎟⎟⎠⎞⎜⎜⎝⎛-⎟⎠⎞⎜⎝⎛Δ+=Δjjjjjjjjsinsinsinsincossincossin1111LLyLLx3-21⎪⎪⎩⎪⎪⎨⎧Δ⎟⎠⎞⎜⎝⎛Δ+=ΔΔ⎟⎠⎞⎜⎝⎛Δ+-=ΔLLLyLLLx2sinsin2sincossin22sinsin2sinsinsin2111111jjjjjjjj3-22⎪⎪⎩⎪⎪⎨⎧⎟⎠⎞⎜⎝⎛Δ+Δ≈Δ⎟⎠⎞⎜⎝⎛Δ+Δ-≈ΔLyLx2sincos2sinsin111111jjjj3-23(3-163-23⎪⎪⎪⎪⎪⎪⎩⎪⎪⎪⎪⎪⎪⎨⎧⎥⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎢⎣⎡⎟⎟⎟⎟⎟⎠⎞⎜⎜⎜⎜⎜⎝⎛⎟⎟⎠⎞⎜⎜⎝⎛-⎟⎟⎠⎞⎜⎜⎝⎛-Δ+--Δ≈Δ⎥⎥⎥⎥⎥⎦⎤⎢⎢⎢⎢⎢⎣⎡⎟⎟⎟⎟⎟⎠⎞⎜⎜⎜⎜⎜⎝⎛⎟⎟⎠⎞⎜⎜⎝⎛-⎟⎟⎠⎞⎜⎜⎝⎛-Δ+-⎟⎟⎠⎞⎜⎜⎝⎛-Δ+-Δ-≈Δ223213233212126211212126612621LyLLxjjjjjjjjjjjjj3-24⎪⎪⎪⎪⎩⎪⎪⎪⎪⎨⎧⎥⎥⎦⎤⎢⎢⎣⎡⎟⎠⎞⎜⎝⎛Δ+--Δ≈Δ-⎟⎠⎞⎜⎝⎛-⎟⎟⎠⎞⎜⎜⎝⎛Δ+Δ-≈Δ222122212121121216112LyLxjjjjj3-253.4-25-⎟⎟⎠⎞⎜⎜⎝⎛ΔΔ-→,2)0,0(2LMMj3-26⎟⎟⎟⎟⎠⎞⎜⎜⎜⎜⎝⎛⎥⎥⎦⎤⎢⎢⎣⎡⎟⎠⎞⎜⎝⎛Δ+--Δ+-⎟⎠⎞⎜⎝⎛-⎟⎟⎠⎞⎜⎜⎝⎛Δ+Δ-→2222222121121,216112),0(LLLNLNjjjjj3-27xΔyΔ3.1.3sm/2ms40yx3.5Matlab453.63.5-26-3.63.7510152025303.63.7-27-3.23.2.1PWMPWMPWMPWMPWMPWMPWMPWMPWMPWM3.8-28-3.8PWM020ms3.2.260°5V4.8V0.20sec/60degrees6V0.16sec/60degrees0°60°160ms3.2.31.5ms2.2ms1.5ms20msACB-29-20ms+160ms=180ms1.PWMPWM50–200Hz20ms–5msPWMPWM2.0.1sec/60degrees3.3.93.93.3[17][18]-30-[19]Curve[19]Curve=∑=nni1||q(3-28)1iii-1ii3n=33.103.10X1q2q3q-31-3.43.4.1[20]80MIMOZadeh19733.113.11-32-Zadeh1973Zadeh1974E.H.Mandani1()234()53.4.2Curved(3-28)CurveDCurve[0120]{}{ZSMB}Curve3.123.12CurveD[040]-33-{}{VS,S,M,B}D3.133.13D3.13.1CurveZSMBDBMSVS3.4.3Dff3.143.14-34-fvw75A[-90,90]A{}{LB,LM,LS,Z,RS,RM,RB}3.150RSZLSLMLBRMRB-75-15-30-45-60-907515304560903.15v[03]m/sv{}{VH,VM,VLVS}v3.16123SMBZ13.16v-35-w[-75,+75]{},{VH,VM,VLVS}w3.170RSZLSLMLBRMRB75153045600751530456