【作者】 张洪；

【导师】 孙柏青；

【作者基本信息】 沈阳工业大学 ， 控制理论与控制工程， 2018， 硕士

【摘要】 随着中国智能工业的升级调整,人口老龄化以及人力成本的提升,“智能制造2025”已从概念走向了实际,移动机器人技术在未来的发展中已然成为了一股不可或缺的力量。其中,路径规划技术是移动机器人技术领域的热点问题之一,它是移动机器人顺利完成工作的前提与基础。因此,进行路径规划方面的研究具有重要的应用价值和现实意义。本文以智能轮椅移动机器人为实验平台,从它的应用环境和服务人群角度出发,针对室内环境或家庭环境中既有已知信息又有未知信息的特点,由于这种环境信息的不确定性,有必要对两种情况下智能轮椅移动机器人的路径规划问题进行研究。从人类解决问题方式的角度出发,分别将人类的记忆方式和推理决策方式赋予到移动机器人路径规划中,使其具有更高的智能水平,更符合使用者的思维方式,保证其舒适度和安全性。主要工作内容有:对智能轮椅移动机器人实验平台运动控制部分进行了简要介绍。描述了其全局坐标系转换方程,并建立了移动机器人运动学方程,同时对本文路径规划问题进行了策略分析。其次,引入了人类记忆方式,对其记忆机制进行了分析,在此基础上,建立了移动机器人基于记忆原理的认知模型。分别建立了短时记忆元和长时记忆元的更新和遗忘数学模型,随着时间的推移,对障碍物的记忆深度逐渐衰减,在仿真平台上对模型进行了验证,满足人类的记忆方式。将记忆模型与A*算法相结合,构建一种双层规避算法。针对室内环境信息的不确定性,基于部分先验信息先规划出每次迭代的局部目标点,在局部路径规划中加入记忆模型,模拟人类从感知到决策的方式,随后进行了仿真实验,仿真结果表明了该算法的可行性。最后,针对存在动态障碍物的环境,从基于人类推理决策的角度出发,本文采用模糊逻辑算法,将传感器采集信息作为输入,将移动速度和转角作为输出,保证安全的前提下,通过仿真平台实验结果验证了算法的可行性和有效性。更多还原

【Abstract】 With the upgrading and adjustment of China’s intelligent industry,the aging of population and the promotion of human cost,the "intelligent manufacturing 2025" has gone from the concept to the reality,and the mobile robot technology has become an indispensable force in the future development.Among them,path planning technology is one of the hot topics in the field of mobile robot technology.It is the premise and foundation for mobile robot to finish work successfully.Therefore,the research of path planning has important practical value and practical significance.In this paper,the intelligent wheelchair mobile robot is used as the experimental platform.From its application environment and the service crowd angle,in view of the characteristics of both known and unknown information in the indoor environment or the family environment,because of the uncertainty of the environmental information,it is necessary to make the path rules for the two kinds of intelligent wheelchair mobile robots.Study the problem.From the angle of human problem solving,human memory and reasoning decision are given to the path planning of mobile robot to make it have a higher level of intelligence,more in line with the user’s thinking mode,and to ensure its comfort and security.The main contents are as follows:The motion control part of the intelligent wheelchair mobile robot experimental platform is briefly introduced.The transformation equation of the global coordinate system is described,and the kinematics equation of the mobile robot is established.At the same time,a strategy analysis is made for the path planning problem in this paper.Secondly,the memory mechanism of human memory is introduced and its memory mechanism is analyzed.On this basis,a cognitive model of mobile robot based on memory principle is established.The mathematical model of updating and forgetting the short-term memory element and long time memory element is established respectively.As time goes on,the memory depth of the obstacles gradually attenuates,and the model is verified on the simulation platform to meet the human memory mode.Combining memory model with A* algorithm,we construct a two tier avoidance algorithm.In view of the uncertainty of indoor environment information,based on partial prior information,the local target points of each iteration are drawn,and memory model is added tothe local path planning to simulate the human perception to decision making.Then the simulation experiment is carried out.The simulation results show the feasibility of the algorithm.Finally,in view of the environment with dynamic obstacles,from the perspective of human reasoning decision,this paper uses the fuzzy logic algorithm to make the sensor acquisition information as input,the moving speed and angle as output,ensuring the security,and the simulation results show the real-time and effectiveness of the algorithm.更多还原