自主式移动机器人研制与基于粒子滤波的移动机器人SLAM研究

【作者】 郑旭光；

【导师】 刘大维；

【作者基本信息】 青岛大学 ， 车辆工程， 2008， 硕士

【摘要】 随着自主式移动机器人技术的不断发展,对移动机器人能够自主完成任务的要求越来越高。自主式移动机器人要能够在各种复杂环境下工作,需解决未知动态环境下自主导航这项艰巨的任务,而未知环境下自主移动机器人的同步自定位与地图创建是实现其自主导航的首要条件。论文在分析自主式移动机器人功能、结构的基础上,确定了传感器系统和布局,设计了声纳数据采集模块、红外数据采集模块的硬件电路,制定了系统的CAN总线通信协议,编写了各模块的软件和上位机CAN总线通信软件,开发了一种新型的基于CAN总线的移动机器人控制系统。设计了一种新型的基于EPOS运动控制器的移动机器人运动控制系统,并对EPOS运动控制器进行了应用开发。在此基础上,开发研制了QDU-Ⅲ型自主式移动机器人。提出了一种利用声纳传感器信息,基于Rao-Blackwellized粒子滤波器和概率栅格地图的移动机器人同步自定位与地图创建(SLAM)的方法,给出了SLAM程序流程图,采用C++语言编写了相应的SLAM程序。进行了室内走廊环境地图创建实验,验证了提出的基于Rao-Blackwellized粒子滤波和概率栅格地图的SLAM算法可有效地跟踪移动机器人在全局坐标系下的运动轨迹,可满足移动机器人室内环境地图创建需要。更多还原

【Abstract】 With the continuous development of autonomous mobile robotics, the mobile robots are expected to independently accomplish more and more complicated tasks. The problem of autonomous navigation must be solved firstly, with the ability of SLAM (Simultaneous Localization and Mapping) in unknown environments as the prerequisite, in order that the robots can work in more complex environments.According to the function and architecture of autonomous mobile robot, sensor system and its layout on robot, circuits of sonar and IR sensor data acquisition module, CAN bus communication protocols and software for CAN bus communication are designed and a new type of mobile robot control system based on CAN bus technology is developed. A new type of mobile robot motion control system based on EPOS motion controller was also designed, together with the software for EPOS application. Based on all of the work above, the QDU-Ⅲautonomous mobile robot was successfully designed and developed. A method of robot simultaneous localization and mapping based on particle filter and probability grid maps using sonar range data is proposed, and a program using C++ programming language was designed for this method based on SLAM program flow chart. The robot mapping experiments was carried out in corridor, and the results shows that the method of robot simultaneous localization and mapping based on particle filter and probability grid maps proposed in the paper can follow the track of mobile robot effectively, meeting the requirements of robot mapping in indoor environment completely.更多还原