【作者】 高波；

【导师】 王建中；

【作者基本信息】 北京理工大学 ， 兵器科学与技术， 2018， 硕士

【摘要】 针对移动机器人在通信信号中断后失去控制的问题,设计移动机器人自主返航控制系统,实现移动机器人在通信信号中断后按照原路径自主返航至恢复遥控信号或返回起始位置,以提高移动机器人的智能水平和在战场上的生存能力,具有重要的应用价值。以履带式移动机器人为研究对象,针对移动机器人的应用环境,构建了自主返航控制系统,设计了自主返航软件框架。建立了移动机器人的运动模型和观测模型,采用基于EKF的同步定位与地图创建方法,有效地提高了移动机器人的定位精度,解决了航迹推测定位法随着时间、距离的增加其定位发散的问题。同时系统每隔一定距离记录一次绝对路径坐标点。在通信信号中断后,系统自主开启返航模式。系统按照顺序追踪通信信号正常情况下所记录的坐标序列,使用启发式路径搜索方法作为全局路径规划方法,以路径最短和趋向目标性为基本准则,有效提高了路径规划的效率。考虑到移动机器人的速度以及加速度约束条件,采用动态窗口法作为局部路径规划方法,该方法充分考虑移动机器人的局部动态环境,解决了移动机器人在返航过程中的实时避障问题。在室内与室外环境下进行移动机器人的自主返航实验,实验结果表明在通信信号中断后,该自主返航系统在室内与室外环境下均能以较高精度完成移动机器人的自主返航。更多还原

【Abstract】 Aiming at the problem that the mobile robot loses control after the communication signal is interrupted,the autonomous homing control system of the mobile robot is designed.The system can realize the autonomous homing of the mobile robot to resume the recovery control signal or the initial position after the communication signal is interrupted according to the original path,and it can improve the intelligent level of the mobile robot and the survivability on the battlefield,which has important application value.We construct an autonomous homing control system and design an autonomous homing software framework by taking crawler-type mobile robot as the research object,which is aiming at the application environment of mobile robot.The motion model and observation model of mobile robot are set up,and the method of simultaneous localization and map building based on EKF is used.This method solves the problem of dead reckoning that its localization will diverge with the increase of time and distance.At the same time,the system records an absolute path coordinate point at a certain distance.The system independently opens the homing mode after the communication signal is interrupted.The system tracks the sequence of coordinates recorded by the remote control signal in the normal condition.The heuristic path search method is used as the global path planning method.The method takes the shortest path and the tendency of the goal as the basic criteria,effectively improving the efficiency of the path planning.Considering the velocity and acceleration constraints of mobile robot,a dynamic window method is used as a local path planning method.This method fully considers the local dynamic environment of the mobile robot and solves the real-time obstacle avoidance problem of the mobile robot during its homing.Autonomous homing experiments of mobile robots are conducted under indoor and outdoor conditions,the experimental results show that the autonomic homing system can complete autonomous homing of mobile robot with high precision under the indoor and outdoor conditions after the communication signal is interrupted.更多还原