【作者】 郭磊；

【导师】 孙棣华； 胡启明；

【作者基本信息】 重庆大学 ， 控制工程， 2012， 硕士

【摘要】 在自主移动机器人相关技术的研究中，导航技术是其研究核心。自主移动机器人的导航主要解决机器人的定位和避障两大技术问题。定位包括自主移动机器人的横向定位和纵向定位，分别向机器人提供姿态信息和位置信息；自主移动机器人的避障则实现机器人的路径规划，即避开障碍物并回到既定路线上。现阶段广泛应用的自主移动机器人的导航系统在户外由于天气、光线、路面光滑程度等因素影响导致导航系统的精度下降，因此，研究受外部环境影响较小的户外自主移动机器人的导航系统是非常具有理论和实际意义的。本文以自主轮式机器人为研究平台，对户外自主轮式移动机器人的导航系统进行研究，其主要工作有以下几个方面：首先，为减少天气和光线对导航系统的影响，设计了以磁导航系统为基础的机器人导航系统，并通过对磁导航系统中磁传感器分布结构的设计和磁条规格的选定以得到机器人准确的横向定位信息从而使机器人沿着既定路线行进。其次，基于磁导航和RFID（射频识别）技术，研究了通过计算机器人里程的方式得到机器人纵向定位信息的方法。为减小路面打滑对机器人纵向定位精度的影响，本文在建立磁导航系统的基础上通过控制磁条的铺设间隔得到磁条磁场间的空隙，然后通过计算磁传感器不能检测到磁场的次数，并结合磁条的铺设间隔长度实现对机器人里程的计算，同时在自主轮式移动机器人行进的线路上每隔一段距离利用RFID技术对当前的里程进行修正以消除积累误差。再次，设计了基于倒车雷达芯片GM3101的超声波测距模块，并在其基础上通过模糊控制技术将得到的障碍物信息进行数据融合、然后根据模糊控制器输出的避障行为动作信息控制机器人避开障碍物，最终结合磁导航系统使机器人回到铺设了磁条的既定线路上。最后，通过测试和仿真实验验证了本文所提方法的可行性和可靠性，并对所取得的结论和成果进行了概括和总结，提出了未来的发展趋势和下一步研究方向。更多还原

【Abstract】 Autonomous mobile robot technology, navigation technology is the core of their research.Navigation technology is mainly to solve the problem of localization and obstacle avoidance forautonomous mobile robot.Localization function of autonomous mobile robot includes lateral localization function andlongitudinal localization function, which provide the position and orientation information and thelocation of autonomous mobile robot. Obstacle avoidance function helps the robot avoid obstacleand return to on the established route.Because the existing navigation technology has its limitations in the outdoor, such as weather,light, cost, so, it is very theoretical and practical to research outdoor autonomous mobile robotnavigation system. Autonomous wheeled mobile robot is an important branch of autonomous mobilerobot, so, this paper do some research about navigation system of autonomous wheeled mobilerobot.First, this paper designs a magnetic navigation system as the robot’s navigation system in orderto reduce the impact of weather and light in the outdoor. Through designs the distribution structureof the magnetic sensors in magnetic navigation system and magnetic markers specification, thispaper will get lateral localization information.Second, this paper calculates mileage of the robot based on magnetic navigation system andRFID technology to get the longitudinal localization information. In order to reduce the impact oflower accuracy of longitudinal localization due to wheel slipping, this paper proposes a new methodof calculating mileage based on magnetic navigation system and RFID for autonomous wheeledmobile robot. With the establishment of magnetic navigation system, this approach is implementedby controlling the gap of laying magnetic markers, getting the interval between the magnetic field oftwo magnetic markers, recording the counts of the magnetic signal which is not detected, and thencombining the length of the gap among laying magnetic markers with modification value offered byRFID when autonomous wheeled mobile robot is moving.Then, through the study of fuzzy control technology and design of ultrasonic distancemeasurement module, this paper proposes a method for obstacle avoidance and return to on theestablished route. The fuzzy controller output action information on the obstacle to the robot, and therobot return to on the established route combining magnetic navigation systemFinally, the work in this paper is summarized and some creative researches about the study areindicated, besides, the topics about the future development trends and research directions are indicated.更多还原