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硕士学位论文基于激光雷达的服务机器人室内动态导航方法研究RESEARCHONDYNAMICNAVIGATIONOFINDOORSERVICEROBOTUSINGLASERSCANNER张振东哈尔滨工业大学2014年7月国内图书分类号:TP242.6学校代码:10213国际图书分类号:681.5密级:公开工学硕士学位论文基于激光雷达的服务机器人室内动态导航方法研究(工程型)硕士研究生:张振东导师:赵立军副教授申请学位:工程硕士学科:机械工程所在单位:机电工程学院答辩日期:2014年7月授予学位单位:哈尔滨工业大学ClassifiedIndex:TP242.6U.D.C:681.5DissertationfortheMasterDegreeinEngineeringRESEARCHONDYNAMICNAVIGATIONOFINDOORSERVICEROBOTUSINGLASERSCANNER(Engineering)Candidate:ZhendongZhangSupervisor:A.Prof.LijunZhaoAcademicDegreeAppliedfor:MasterofEngineeringSpeciality:MechanicalEngineeringAffiliation:SchoolofMechatronicsEngineeringDateofDefence:July,2014Degree-Conferring-Institution:HarbinInstituteofTechnology摘要摘要由于我国人口众多及人口老龄化的现状,发展研究服务机器人成为我国的迫切需求。室内服务机器人最基本的要求是定位导航,该问题一直制约着机器人的发展和应用。安全性问题是首要考虑因素,特别是人的因素,动态导航、自主避障使服务机器人具备安全性必要保障。因此,本课题在国家自然科学基金资助项目“动态未知环境下服务机器人主动同步定位与地图构建方法研究”下对服务机器人进行室内动态导航方法研究。首先对服务机器人平台进行差动模型、里程计模型、激光传感器模型建模与分析,为移动机器人动态导航研究做理论性铺垫。其次,考虑机器人在环境中的自定位问题,研究移动机器人环境特征定位。采用激光传感器进行点特征、线段特征提取并描述环境,运用最小二乘法拟合、得到准确的线段特征,进行机器人自定位。然后针对导航问题进行全局路径规划研究。对已知环境使用栅格法进行建模,并采用基于切比雪夫距离的A*算法对机器人进行全局路径规划。同时,针对动态环境,特别是行人的特征,进行动态目标识别与跟踪研究。通过对行人步态模型的分析,基于多特征跟踪行人状态。对VFH算法和局部A*算法比较,选择A*局部规划算法进行局部动态路径规划,安全避障,实现动态导航。最后,对课题各部分研究进行实验与分析,验证总体研究的有效性。关键词:路径规划;服务机器人;动态目标跟踪;激光雷达-I-AbstractAbstractDuetothelargeandagingpopulationinourcountry,developmentservicerobotsbecometheurgentdemandforourcountry.Positioningandnavigationarethemostbasicrequirementsforindoorservicerobots.Theproblemalwaysrestrictsthedevelopmentandapplicationoftherobot.Safetyistheprimaryconsideration,especiallythehumanfactor.Thedynamicnavigationandautonomousobstaclesavoidancemakesservicerobotshavethenecessarysafety.Therefore,itisnecessarytodotheresearchondynamicnavigationmethodforindoorservicerobots.ItwontheNationalNaturalScienceFoundation-funded,named“SimultaneousLocalizationandmapbuildingforservicerobotsindynamicunknownenvironment”.Firstly,theservicerobots’platformweremodeledandanalyzed,includingthedifferentialdrivemodel,Odometermodelandlaserscannermodel.Itistheoreticalgroundformobilerobots’navigationresearch.Extractpointfeaturesandlinefeaturesbylaserscanneranddescribetheenvirment.Linefeatureswerefittingbyleastsquaremethodandaccuratelinefeaturesareobtainedfinally.Theservicerobotsachievedaccuratepositionbymatchingtheknownmap.Then,servicerobotsneedforglobalpathplanningtonavigation.Servicerobots’workingenvironmentismodeledbyusinggridmethod.UsetheA*algorithmbasedonChebyshevdistanceforglobalpathplanning.Atthesametime,fordynamicenvironments,especiallythecharacteristicsofthepedestrians,shouldresearchdynamictargetsrecognitionandtracking.Throughtheanalysisofpedestriangaitmodel,pedestrians’statusistrackedbasedonmulti-feature.ComparisononVFHalgorithmandlocalA*algorithm,chooseA*localplanningalgorithmforlocaldynamicpathplanning.Servicerobotsavoidobstaclesandrealizethedynamicnavigation.Finally,experimentandanalysiswillcarriedoutonthesubjectparts,verifytheeffectivenessoftheoverallresearch.Keywords:pathplaning,servicerobots,dynamictargettracking,laserscanner-II-目录目录摘要...............................................................................................................................IABSTRACT.....................................................................................................................II第1章绪论................................................................................................................11.1课题背景与研究的目的和意义............................................................................11.2国内外服务机器人研究现状................................................................................21.3服务机器人动态导航综述....................................................................................51.3.1机器人自定位................................................................................................51.3.2机器人全局路径规划....................................................................................71.3.3机器人局部动态路径规划..........................................................................101.4本文主要研究内容..............................................................................................13第2章移动机器人系统建模......................................................................................152.1引言......................................................................................................................152.2机器人运动学模型..............................................................................................152.2.1差动驱动模型..............................................................................................152.2.2里程计模型..................................................................................................172.3激光传感器模型..................................................................................................222.3.1激光传感器概述..........................................................................................232.3.2激光传感器数据分析..................................................................................252.3.3激光传感器数据预处理..............................................................
本文标题:基于激光雷达的服务机器人室内动态导航方法研究
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