基于AVR轮式机器人路径规划的研究

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3.0 侯斌 2024-11-19 4 4 2.63MB 64 页 15积分

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摘要

移动机器人是机器人技术的一个重要分支，受到了越来越多的关注，在各领

域中都得到了广泛应用。从农业生产到工业应用，从海洋开发到宇宙探索，从服

务业到娱乐业，移动机器人都发挥着重要作用。它不仅推动了科学技术的发展，

同时也带来了巨大的经济和社会效益。移动机器人技术运用了多学科的理论和技

术，其中路径规划是移动机器人领域研究的重点，也是朝着智能化发展的必然要

求。本文以移动机器人路径规划为主要研究内容，对基于人工势场法路径规划和

基于模糊逻辑算法的路径规划进行了深入分析。

首先研究了移动机器人信息的采集，多传感器融合技术的应用，并对移动机

器人进行运动学分析建模、定位，为实现路径规划奠定基础。

其次研究了传统人工势场法的基本原理，通过举例分析了目标不可达和局部

稳定点这两大缺陷，提出了改变斥力场函数和引入虚拟目标点的改进方法，使机

器人能够顺利到达目标点。在 MATLAB 的仿真实验中，分析了不同参数对路径

规划的影响，同时也验证了改进方法的可行性。

接着设计了一种基于模糊逻辑算法的路径规划方法。该方法把移动机器人路

径规划分成避障和趋向目标这两种行为，然后对这两种行为进行了控制器的设计。

在存在障碍物时用避障控制器，否则启用目标控制器。在不同环境下的仿真实验

表明移动机器人能够很好的避开障碍物并到达目标点。

最后基于 AVR 单片机设计了移动机器人。移动机器人由 3个超声波传感器

模块、光电传感器模块、驱动模块、红外遥控模块等组成。在没有障碍物和有障

碍物这两种环境下进行了实验，虽然有各种因素的影响，但移动机器人基本能够

达到实验要求。

关键词：移动机器人路径规划人工势场法模糊逻辑 AVR 单片机

ABSTRACT

Mobile robot is an important branch of robot technology, has received more and

more attention and has been widely used in various fields. From agricultural

production to industrial applications, from ocean development to explore the universe,

from the services to the entertainment industry, mobile robot plays an important role.

It not only promoted the development of science and technology, but also brought

great economic and social benefits. Using multidisciplinary theory and technology of

mobile robot, path planning is the key of the mobile robot research, and is the

inevitable requirement of towards intelligent development. Based on the mobile robot

path planning as the main research contents, the path planning based on artificial

potential field method and path planning based on fuzzy logic algorithm is carried on

the thorough analysis.

First of all, we studied the mobile robot of Information collection and

multi-sensor fusion technology applications. We also carried out on the mobile robot

kinematics analysis modeling, positioning, lay a foundation for the realization of the

path planning.

Secondly, we studied the basic principle of traditional artificial potential field

method and analyzed the target inaccessible and local stability problem. To solve

these problems, we put forward the change the repulsive force function and the

introduction of virtual target point improvement methods make robots would be able

to reach target. In MATLAB simulation experiment, the influence of different

parameters on the path planning is analyzed, at the same time also verify the

feasibility of improving methods.

Thirdly, we put forward a method of path planning based on fuzzy logic

algorithm. The mobile robot path planning is divided into the method of obstacle

avoidance behavior and leads to that goal behavior, and then to design the controller

of the two kinds of behavior. In the presence of obstacles we enable the obstacle

avoidance controller, or enable the target controller. Simulation results show that

under different environmental mobile robot can avoid obstacles and reach the target

very well.

III

Finally, we designed a mobile robot based on AVR single-chip processor.

Mobile robot is made up of three ultrasonic sensors module, photoelectric sensors

module, driver module, infrared remote control module and so on. In the experiments,

whether there are obstacles or no obstacles, although there are a variety of factors,

mobile robot can meet the requirements of the experiment.

Key words: Mobile Robot, Path Planning, Artificial Potential Field

Method, Fuzzy Logic, AVR Single-chip Processor

中文摘要

ABSTRACT

第一章绪论.................................................................................................................. 1

1.1 引言 ..................................................................................................................... 1

1.2 移动机器人的发展与应用 ................................................................................. 1

1.3 路径规划研究现状 ............................................................................................. 3

1.3.1 传统的路径规划方法 .................................................................................. 3

1.3.2 智能路径规划方法 ...................................................................................... 4

1.4 本课题的研究背景与意义 ................................................................................. 6

1.5 论文的结构与主要内容 ..................................................................................... 6

第二章移动机器人信息采集...................................................................................... 8

2.1 超声波测距 ......................................................................................................... 8

2.1.1 超声波性质 .................................................................................................. 8

2.1.2 超声波工作原理 .......................................................................................... 8

2.1.3 超声波测距误差分析 .................................................................................. 9

2.2 多传感器信息融合 ........................................................................................... 10

2.2.1 信息融合技术 ............................................................................................ 10

2.2.2 信息融合主要方法 .................................................................................... 12

2.3 本章小结 ........................................................................................................... 14

第三章移动机器人运动建模与定位........................................................................ 15

3.1 移动机器人运动模型 ....................................................................................... 15

3.1.1 移动机器人位姿 ........................................................................................ 15

3.2 移动机器人定位 ............................................................................................... 18

3.2.1 定位的基本方法 ........................................................................................ 18

3.2.2 轮式机器人航迹推测定位 ........................................................................ 19

3.3 本章小结 ........................................................................................................... 21

第四章人工势场法路径规划的研究........................................................................ 22

4.1 传统的人工势场法 ............................................................................................ 22

4.1.1 人工势场法基本原理 ................................................................................ 22

4.1.2 势场函数的确定 ........................................................................................ 23

4.2 人工势场法缺陷分析与改进 ........................................................................... 24

4.2.1 目标不可达 ................................................................................................ 24

4.2.2 目标不可达举例分析 ................................................................................ 27

4.2.3 局部稳定点 ................................................................................................ 28

4.2.4 局部稳定点举例分析 ................................................................................ 30

4.3 人工势场法路径规划仿真 ................................................................................ 31

4.3.1 参数对路径规划影响实验 ........................................................................ 31

4.3.2 改进的人工势场法仿真 ............................................................................ 33

4.4 本章小结 ........................................................................................................... 36

第五章模糊逻辑算法路径规划研究........................................................................ 37

5.1 模糊控制基本概况 ........................................................................................... 37

5.2 隶属度函数 ........................................................................................................ 41

5.3 控制器设计 ........................................................................................................ 43

5.3.1 避障控制器 ................................................................................................ 43

5.3.2 目标控制器 ................................................................................................ 44

5.3.3 控制体系 .................................................................................................... 45

5.4 仿真实验 ............................................................................................................ 45

5.5 本章小结 ........................................................................................................... 47

第六章移动机器人设计与实验................................................................................ 48

6.1 AVR 单片机 ...................................................................................................... 48

6.1.1 控制芯片介绍 ............................................................................................ 48

6.1.2 开发工具介绍 ............................................................................................ 49

6.2 硬件模块 ........................................................................................................... 49

6.2.1 超声波模块 ................................................................................................ 49

6.2.2 光电传感器模块 ........................................................................................ 50

6.2.3 驱动模块 .................................................................................................... 50

6.2.4 红外遥控模块 ............................................................................................ 51

6.3 路径规划部分实验 ........................................................................................... 52

6.4 本章小结 ........................................................................................................... 53

第七章总结与展望.................................................................................................... 54

参考文献...................................................................................................................... 56

在读期间公开发表的论文和承担科研项目及取得成果.......................................... 59

致谢.............................................................................................................................. 60

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摘要：

I摘要移动机器人是机器人技术的一个重要分支，受到了越来越多的关注，在各领域中都得到了广泛应用。从农业生产到工业应用，从海洋开发到宇宙探索，从服务业到娱乐业，移动机器人都发挥着重要作用。它不仅推动了科学技术的发展，同时也带来了巨大的经济和社会效益。移动机器人技术运用了多学科的理论和技术，其中路径规划是移动机器人领域研究的重点，也是朝着智能化发展的必然要求。本文以移动机器人路径规划为主要研究内容，对基于人工势场法路径规划和基于模糊逻辑算法的路径规划进行了深入分析。首先研究了移动机器人信息的采集，多传感器融合技术的应用，并对移动机器人进行运动学分析建模、定位，为实现路径规划奠定基础。其次研究了传统人...

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