吸尘机器人非结构环境下自主路径规划方法的研究
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摘要
吸尘机器人遍历路径规划是实现机器人智能的一个关键部分，本文主要以吸尘机器人在非结构化环境中的自主路径规划设计为中心，通过对吸尘机器人的一些关键技术—智能控制技术、路径规划技术等的研究，提出一种适应性较强的路径规划方法，以达到最终实现吸尘机器人家居环境中自主、独立工作的目的。
本文共由五章组成：第一章首先概述了吸尘机器人技术和机器人路径规划的主要算法。第二章则介绍了遍历路径规划实现的两种方案，以此作为后续研究的指导。第三章针对环境中障碍静止且室内环境局部已知的情况，提出一种将环境边界确定性考虑在内的遍历路径规划方法，并且对算法进行仿真并且给出模拟非结构化环境中的实验结果。第四章针对第三章提出算法的缺点，排出不确定传感器信息的影响，试验一种随机规划与局部路径规划相结合的混合路径规划方法。该算法不考虑全局定位，只利用局部有效定位信息，对复杂环境的适应性增强。同时，遍历路径规划过程中也考虑运动障碍的影响，设计相应“逃离”算法。另外，在遍历规划结束后，设计回归充电座的路径规划方法，并且论证各种定位误差下的回归必然性。最后，给出各个算法的实验结果并给予分析。
Coverage path planning is a pivotal problem for Cleaning Robot to achieve intelligence, In this dissertation, the autonomous path planning in unstructured environment is described, along with the related key techniques such as intelligent control and path planning etc. An idea about coverage path planning is put forward to acclimate all kinds of complex conditions in order to improve the application of Cleaning Robot in the family life.
First, chapter 1 gives a survey of algorithms about intelligent robot and path planning techniques. Chapter 2 describes the aim and detailed contents of this research project, and finally the implementations of algorithms are also theoretically summarized in this chapter. Chapter 3, based on the actionless obstacle and known indoor environment, a way of coverage path planning is given considering confirmability of environment borderline, then the algorithm is emulated and the test result are also provided. Chapter 4, according to the shortage of the algorithm provided in the chapter 3 and removing the influence of unsureness sensors information, a feasible mixed approach of path planning is discussed. This algorithm mixes the advantages of random planning and partial path planning, and uses the valid information of location in order to improve the applicability in the unstructured room environment. At the same time, in view of the moving obstacle, a escape algorithm is discussed. Then a path planning method
to return to charger is given, and the way back inevitability is proved taking into account different locations errors. At last the test results of algorithm are provided and analyzed.
本文共由五章组成：第一章首先概述了吸尘机器人技术和机器人路径规划的主要算法。第二章则介绍了遍历路径规划实现的两种方案，以此作为后续研究的指导。第三章针对环境中障碍静止且室内环境局部已知的情况，提出一种将环境边界确定性考虑在内的遍历路径规划方法，并且对算法进行仿真并且给出模拟非结构化环境中的实验结果。第四章针对第三章提出算法的缺点，排出不确定传感器信息的影响，试验一种随机规划与局部路径规划相结合的混合路径规划方法。该算法不考虑全局定位，只利用局部有效定位信息，对复杂环境的适应性增强。同时，遍历路径规划过程中也考虑运动障碍的影响，设计相应“逃离”算法。另外，在遍历规划结束后，设计回归充电座的路径规划方法，并且论证各种定位误差下的回归必然性。最后，给出各个算法的实验结果并给予分析。
Coverage path planning is a pivotal problem for Cleaning Robot to achieve intelligence, In this dissertation, the autonomous path planning in unstructured environment is described, along with the related key techniques such as intelligent control and path planning etc. An idea about coverage path planning is put forward to acclimate all kinds of complex conditions in order to improve the application of Cleaning Robot in the family life.
First, chapter 1 gives a survey of algorithms about intelligent robot and path planning techniques. Chapter 2 describes the aim and detailed contents of this research project, and finally the implementations of algorithms are also theoretically summarized in this chapter. Chapter 3, based on the actionless obstacle and known indoor environment, a way of coverage path planning is given considering confirmability of environment borderline, then the algorithm is emulated and the test result are also provided. Chapter 4, according to the shortage of the algorithm provided in the chapter 3 and removing the influence of unsureness sensors information, a feasible mixed approach of path planning is discussed. This algorithm mixes the advantages of random planning and partial path planning, and uses the valid information of location in order to improve the applicability in the unstructured room environment. At the same time, in view of the moving obstacle, a escape algorithm is discussed. Then a path planning method
to return to charger is given, and the way back inevitability is proved taking into account different locations errors. At last the test results of algorithm are provided and analyzed.
引文
1、姚传胤等，新编Turbo C及其应用，国防工业出版社
2、周航慈，饶运涛，单片机程序设计基础，北京航空航天大学出版社
3、朱世强，王宣银，机器人技术及应用，浙江大学出版社
4、程军，Intel 80C196单片机应用实践与C语言开发，北京航空航天大学出版社
5、卢开澄，卢华明，图论及其应用，清华大学出版社
6、金一庆、金廷赞、张三元，离散数学，浙江大学出版社
7、周培德，计算几何-算法分析与设计，清华大学出版社，广西科学技术出版社
8、张颖，刘艳秋，软计算方法，科学出版社
9、胡跃明，丁维中，吴忻生，吸尘机器人的研究现状与展望，机器人技术与应用，2002(1)
10、李开生，张慧慧，费仁元，宗光华，国外服务机器人的发展动态和前景，制造业自动化，2000，22(6)
11、R.D.Schraft, E.Degenhart, M.Hgele, New Robots Appropriate in Production and Service, Proceedings of the 1993 IEEE/Tsukuba International Workshop on Advanced Robotics—Can robots contribute to preventing environmental deterioration—Tsukuba, Japan, November 8—9, 1993
12、M. Schofield. "Neither Master nor Slave ..."A practical case study in the development and employment of cleaning robots. In Proc. IEEE 7th Int. Conf. on Emerging Technologies and Factory Automation ETFA'99, Barcelona, pp. 1427-1434, 2000.
13、Werner Dierssen, TN2002-01.Service Robots, http://www.technieuws.org
14、张颖，吴成东，原宝龙，机器人路径规划方法综述，机器人，2003，10(S_0)
15、陈之远，更加人性化的智能吸尘器，家电大视野，2002，9
16、朱勇，基于超声波传感器测距德沿边走吸尘器路径规划算法，机器人技术与应用，2002(1)
17、C. Hofner and G. Schmidt, Path planning and guidance techniques for an autonomous mobile cleaning robot, Robotics and Autonomous Systems, 14: 199—212, May 1998.
18、徐国华，谭民，移动机器人的发展现状及其趋势，机器人技术与应用，2001，3
19、苏丽颖，谭民，移动机器人构建地图的研究与发展，中国科学院研究生院学报，2002，19(2)
20、王卫华，陈卫东，席裕庚，基于不确定信息的移动机器人地图创建研究进展，机器人，2001，23(6)
21、李强，林良明，颜国正，一种新的移动机器人环境模型，机器人，1999，21(5)
22、吴海彬，朱世强，马翔，自主吸尘机器人在非结构环境下的避障与路径规划，机器人，2000，22(7)
23、李开生，张慧慧，费仁元，宗光华，具有遍历特性的移动机器人规划方法的研究，机器人，2001，23(6)
24、Howie Choset, Ercan Acar, Alfred A. Rizzi, and Jonathan Luntz, Exact Cellular Decompositon in Terms of Critical Points of Morse Functions, Proceedings of the 2000 IEEE Intl Conf on Robotics & Automation, 2000
25、G. Schmidt, C.Hofner, An Advanced Planning and Navigation Approach for Autonomous Cleaning Robot Operations, Proceedings of the 1998 IEEE/RSJ Intl Conf on Intelligent Robots and Systems, 1998
26、R.Neumann de Carvalho, H.A.Vidal, EVieira, M.I.Ribeiro, Complete Coverage Path Planning and Guidance for Cleaning Robots, Proceedings of the 1997 IEEE Intl Conf on Robotics & Automation, 1997
27、Ercan U. Acar, Howie Choset, Robust Sensor-based Coverage of Unstructured Environments, Proceedings of the 2001 IEEE/RSJ Intl Confon Intelligent Robots and Systems, 2001
28、Zack J.Butler, Alfred A. Rizzi, Ralph L.Hollis, Contact Sensor-based Coverage of Rectilinear Environments, Proceedings of the 1999 IEEE Intl Symposium on Intelligent Control/Intelligent Systems and Semiotics, 1999
29、马兆青，袁曾任，基于栅格方法的移动机器人实时导航和避障，机器人，1996，18(6)
30、杨向东，徐家球，张伯鹏，基于环境拓扑学特征的二维点机器人路径规划，机器人，1996，18(1)
31、袁曾任，高明，在动态环境中移动机器人导航和避碰的一种新方法，机器人，2000，22(2)
32、王孙安，庄健，移动机器人路径发现与规划的免疫算法，系统仿真学报，2002，14(8)
33、李彩虹，张景元，李贻斌，基于模糊控制的移动机器人的路径规划，淄博学院学报(自然科学与工程版)，2001，3(3)
34、李瑞峰，李伟招，基于多传感器信息融合的移动机器人路径规划，机电一体化，2002，4
35、孟庆治，彭商贤，刘大维，基于Q—M图启发式搜索的移动机器人全局路径规划，机器人，1998，20(4)
36、蔡自兴，彭志红，一种新的路径编码机制在移动机器人路径规划中的应用，机器人，2001，23(3)
37、张纯刚，基于滚动窗口的移动机器人路径规划，系统工程与电子技术，2002，24(6)
38、吕宗祺，容错软件，抗恶劣环境计算机，1989，3
39、陈刚，沈林成，复杂环境下路径规划问题的遗传路径规划方法，机器人，2001，23(1)
40、Gabriel Ramfrez, Said Zeghloul, A New Local Path Planner for Nonholonomic Mobile Robot Navigation in Cluttered Envirnments, Proceedings of the 2000 IEEE Intl Confon Robotics & Automation, 2000
41、Howie Choset, Coverage of Known Space: The Boustrophedon Celluar Decomposotion, Autonomous Robots 9, 2000
42、Howie Choset, Philippe Pignon, coverage pathplannign: The Boustrophedon
Cellular Decomposition, Proceedings of the 1999 IEEE Intl Conf on Robotics & Automation, 1999
43、Ercan U. Acar, Howie Choset, Exploiting Critical Points to Reduce Position Error for Sensor-based Navigation, Proceedings of the 2002 IEEE Intl Confon Robotics & Automation, 2002
44、Ercan U. Acar, Howie Choset, Yangang Zhang, Mark Schervish, Path Planning for Robotic Demining: Robust Sensor-based Coverage of Unstructured Environments and Probabilistic Methods, The International Jounal of Robotics Research, Vol. 22, No. 7,8, July-August 2003
45、Ercan U. Acar, Howie Choset, Alfred A. Rizzi, Prasad N. Atkar, Douglas Hull, Morse Decompositions for Coverage Tasks, The International Jounal of Robotics Research, Vol. 21, No. 4, April 2002, pp. 331-344
46、Ercan U. Acar, Howie Choset, Sensor-Based Coverage of Unknown Environments: Incremental Construction of Morse Decompositions, The International Jounal of Robotics Research, Vol. 21, No. 4, April 2002, pp. 345-366
47、Howie Choset, Coverage of Known Spaces: The Boustrophedon Cellupdar Decomposition, Autonomos Robots 9: 247-253, 2000
48、Ercan U. Aear, Howie Choset, Robust Sensor-based Coverage of Unstructured Environments, Proc. of IEEE IROS'01, International Conference on Intelligent Robots and Systems, pgs 61-68, 2001, Maui, Hawaii, USA
49、Howie Choset and Philippe Pignon, Coverage Path Planning." The Boustrophedon Decomposition, International Conference on Field and Service Robotics, Canberra, Australia, 1997
50、The definition of service robot in the questionnaire of the international federation of Robotics (IFR) for their yearly study of world wide robot statistics, 1998
51、Schofield M. Cleaning robots: the Need for an Industrial Centred Approach to Autunomy and Extended Systems Thinking. In Autonomous Robotic Systems, Ed
Anibal T de Almeila and Oussama Khatib. Springer Verlag, London, 1998
52、C.Fischer, M.Buss, and G Schmidt, Soft Control of an Effector Path for a Mobile Manipulator, in Proc.ofthe the Intl.Symp. on Robotics and Manufacturing (ISRAM), (Montpellier, France), pp.299—306
53、A.Zelinsky, R.Jarvis, J.Byme, and S.Yuta, Planning Path of complete coverage of an unstructured environment by a mobile robot, in Proc. of Int'l. Conf. on Aavanced Robotics, pp.533-538, November 1993
54、Z.J.Butler, CC_R: A complete algorithm for contact-sensor based coverage of rectilinear environments, Tech.Rep.CMU-RI-TR-98-27, Robotlcs Institute, Carnegie Mellon Univ, 1998
55、D.W.Gage, Randomized search strategies with imperfect sensor, in Mobile Robot Ⅶ, pp.270-279,1993
56、S.Hert, S.Tiwari, and V. Lurelsky, A terrain covering algorithm for an AUV, Autonomous Robots, vol.3, pp.91-119, 1996
57、刘瑜、朱世强等，自主吸尘机器人在非结构环境下的作业规划，机床与液压，2003，1
2、周航慈，饶运涛，单片机程序设计基础，北京航空航天大学出版社
3、朱世强，王宣银，机器人技术及应用，浙江大学出版社
4、程军，Intel 80C196单片机应用实践与C语言开发，北京航空航天大学出版社
5、卢开澄，卢华明，图论及其应用，清华大学出版社
6、金一庆、金廷赞、张三元，离散数学，浙江大学出版社
7、周培德，计算几何-算法分析与设计，清华大学出版社，广西科学技术出版社
8、张颖，刘艳秋，软计算方法，科学出版社
9、胡跃明，丁维中，吴忻生，吸尘机器人的研究现状与展望，机器人技术与应用，2002(1)
10、李开生，张慧慧，费仁元，宗光华，国外服务机器人的发展动态和前景，制造业自动化，2000，22(6)
11、R.D.Schraft, E.Degenhart, M.Hgele, New Robots Appropriate in Production and Service, Proceedings of the 1993 IEEE/Tsukuba International Workshop on Advanced Robotics—Can robots contribute to preventing environmental deterioration—Tsukuba, Japan, November 8—9, 1993
12、M. Schofield. "Neither Master nor Slave ..."A practical case study in the development and employment of cleaning robots. In Proc. IEEE 7th Int. Conf. on Emerging Technologies and Factory Automation ETFA'99, Barcelona, pp. 1427-1434, 2000.
13、Werner Dierssen, TN2002-01.Service Robots, http://www.technieuws.org
14、张颖，吴成东，原宝龙，机器人路径规划方法综述，机器人，2003，10(S_0)
15、陈之远，更加人性化的智能吸尘器，家电大视野，2002，9
16、朱勇，基于超声波传感器测距德沿边走吸尘器路径规划算法，机器人技术与应用，2002(1)
17、C. Hofner and G. Schmidt, Path planning and guidance techniques for an autonomous mobile cleaning robot, Robotics and Autonomous Systems, 14: 199—212, May 1998.
18、徐国华，谭民，移动机器人的发展现状及其趋势，机器人技术与应用，2001，3
19、苏丽颖，谭民，移动机器人构建地图的研究与发展，中国科学院研究生院学报，2002，19(2)
20、王卫华，陈卫东，席裕庚，基于不确定信息的移动机器人地图创建研究进展，机器人，2001，23(6)
21、李强，林良明，颜国正，一种新的移动机器人环境模型，机器人，1999，21(5)
22、吴海彬，朱世强，马翔，自主吸尘机器人在非结构环境下的避障与路径规划，机器人，2000，22(7)
23、李开生，张慧慧，费仁元，宗光华，具有遍历特性的移动机器人规划方法的研究，机器人，2001，23(6)
24、Howie Choset, Ercan Acar, Alfred A. Rizzi, and Jonathan Luntz, Exact Cellular Decompositon in Terms of Critical Points of Morse Functions, Proceedings of the 2000 IEEE Intl Conf on Robotics & Automation, 2000
25、G. Schmidt, C.Hofner, An Advanced Planning and Navigation Approach for Autonomous Cleaning Robot Operations, Proceedings of the 1998 IEEE/RSJ Intl Conf on Intelligent Robots and Systems, 1998
26、R.Neumann de Carvalho, H.A.Vidal, EVieira, M.I.Ribeiro, Complete Coverage Path Planning and Guidance for Cleaning Robots, Proceedings of the 1997 IEEE Intl Conf on Robotics & Automation, 1997
27、Ercan U. Acar, Howie Choset, Robust Sensor-based Coverage of Unstructured Environments, Proceedings of the 2001 IEEE/RSJ Intl Confon Intelligent Robots and Systems, 2001
28、Zack J.Butler, Alfred A. Rizzi, Ralph L.Hollis, Contact Sensor-based Coverage of Rectilinear Environments, Proceedings of the 1999 IEEE Intl Symposium on Intelligent Control/Intelligent Systems and Semiotics, 1999
29、马兆青，袁曾任，基于栅格方法的移动机器人实时导航和避障，机器人，1996，18(6)
30、杨向东，徐家球，张伯鹏，基于环境拓扑学特征的二维点机器人路径规划，机器人，1996，18(1)
31、袁曾任，高明，在动态环境中移动机器人导航和避碰的一种新方法，机器人，2000，22(2)
32、王孙安，庄健，移动机器人路径发现与规划的免疫算法，系统仿真学报，2002，14(8)
33、李彩虹，张景元，李贻斌，基于模糊控制的移动机器人的路径规划，淄博学院学报(自然科学与工程版)，2001，3(3)
34、李瑞峰，李伟招，基于多传感器信息融合的移动机器人路径规划，机电一体化，2002，4
35、孟庆治，彭商贤，刘大维，基于Q—M图启发式搜索的移动机器人全局路径规划，机器人，1998，20(4)
36、蔡自兴，彭志红，一种新的路径编码机制在移动机器人路径规划中的应用，机器人，2001，23(3)
37、张纯刚，基于滚动窗口的移动机器人路径规划，系统工程与电子技术，2002，24(6)
38、吕宗祺，容错软件，抗恶劣环境计算机，1989，3
39、陈刚，沈林成，复杂环境下路径规划问题的遗传路径规划方法，机器人，2001，23(1)
40、Gabriel Ramfrez, Said Zeghloul, A New Local Path Planner for Nonholonomic Mobile Robot Navigation in Cluttered Envirnments, Proceedings of the 2000 IEEE Intl Confon Robotics & Automation, 2000
41、Howie Choset, Coverage of Known Space: The Boustrophedon Celluar Decomposotion, Autonomous Robots 9, 2000
42、Howie Choset, Philippe Pignon, coverage pathplannign: The Boustrophedon
Cellular Decomposition, Proceedings of the 1999 IEEE Intl Conf on Robotics & Automation, 1999
43、Ercan U. Acar, Howie Choset, Exploiting Critical Points to Reduce Position Error for Sensor-based Navigation, Proceedings of the 2002 IEEE Intl Confon Robotics & Automation, 2002
44、Ercan U. Acar, Howie Choset, Yangang Zhang, Mark Schervish, Path Planning for Robotic Demining: Robust Sensor-based Coverage of Unstructured Environments and Probabilistic Methods, The International Jounal of Robotics Research, Vol. 22, No. 7,8, July-August 2003
45、Ercan U. Acar, Howie Choset, Alfred A. Rizzi, Prasad N. Atkar, Douglas Hull, Morse Decompositions for Coverage Tasks, The International Jounal of Robotics Research, Vol. 21, No. 4, April 2002, pp. 331-344
46、Ercan U. Acar, Howie Choset, Sensor-Based Coverage of Unknown Environments: Incremental Construction of Morse Decompositions, The International Jounal of Robotics Research, Vol. 21, No. 4, April 2002, pp. 345-366
47、Howie Choset, Coverage of Known Spaces: The Boustrophedon Cellupdar Decomposition, Autonomos Robots 9: 247-253, 2000
48、Ercan U. Aear, Howie Choset, Robust Sensor-based Coverage of Unstructured Environments, Proc. of IEEE IROS'01, International Conference on Intelligent Robots and Systems, pgs 61-68, 2001, Maui, Hawaii, USA
49、Howie Choset and Philippe Pignon, Coverage Path Planning." The Boustrophedon Decomposition, International Conference on Field and Service Robotics, Canberra, Australia, 1997
50、The definition of service robot in the questionnaire of the international federation of Robotics (IFR) for their yearly study of world wide robot statistics, 1998
51、Schofield M. Cleaning robots: the Need for an Industrial Centred Approach to Autunomy and Extended Systems Thinking. In Autonomous Robotic Systems, Ed
Anibal T de Almeila and Oussama Khatib. Springer Verlag, London, 1998
52、C.Fischer, M.Buss, and G Schmidt, Soft Control of an Effector Path for a Mobile Manipulator, in Proc.ofthe the Intl.Symp. on Robotics and Manufacturing (ISRAM), (Montpellier, France), pp.299—306
53、A.Zelinsky, R.Jarvis, J.Byme, and S.Yuta, Planning Path of complete coverage of an unstructured environment by a mobile robot, in Proc. of Int'l. Conf. on Aavanced Robotics, pp.533-538, November 1993
54、Z.J.Butler, CC_R: A complete algorithm for contact-sensor based coverage of rectilinear environments, Tech.Rep.CMU-RI-TR-98-27, Robotlcs Institute, Carnegie Mellon Univ, 1998
55、D.W.Gage, Randomized search strategies with imperfect sensor, in Mobile Robot Ⅶ, pp.270-279,1993
56、S.Hert, S.Tiwari, and V. Lurelsky, A terrain covering algorithm for an AUV, Autonomous Robots, vol.3, pp.91-119, 1996
57、刘瑜、朱世强等，自主吸尘机器人在非结构环境下的作业规划，机床与液压，2003，1
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