移动机器人的路径规划和避障控制
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摘要
移动机器人是机器人研究领域中重要的一个分支，智能移动机器人集人工智能、智能控制、信息处理、图象处理、检测与转换等专业技术为一体，跨计算机、自动控制、机械、电子等多学科，成为当前智能机器人研究的重点之一。
智能移动机器人最大的特点是：通过本身对外界环境信息的感知接收和处理，为自己规划行走路线，来达到人们使用移动机器人完成某一任务的目的，即它具有一定的“智能”，一定的自主能力。
本文研究的重点在于移动机器人的路径规划，和通常所说的点到点的路径规划不同，本文研究的主要内容是机器人路径的遍历规划，遍历规划是在满足某种性能评价指标最优的前提下寻找一条在设定区域内从始点到终点且经过所有可达点的连续路径；而点到点规划的目标是寻求一条从始点到终点的无碰撞最优路径。本文首先将给定的需要智能移动机器人遍历的区域按照文中提出的规则划分成几个子区域，然后遵循一定原则按照某种性能评价指标分别遍历每个子区域，最后给出了遍历子区域的计算机仿真图形。
智能移动机器人的遍历路径规划目前大部分处在理论和实验阶段，只有很少数的实用，还需要继续深入研究，使它能够在将来达到很好的实用水平，更好的为人类服务。
Mobile robot is an important branch of robot. It involves artificial intelligence (AI), intelligent control, information procession, image procession and detection and conversion. It refers to computer science, auto control, mechanical, electronic science. It's one of the key researches on intelligent robot now.
The most important character of mobile robot is that it programs a path to do something by detecting and dealing environmental information by itself. In other words, it has some intelligence.
This thesis studied the path programming of mobile robot. Be different with usually point-to-point path programming, this thesis studied the traverse programming. Under the precondition of satisfying every performance, a continuous path, which passes through every arrival point from start to end, will be found. However, the aim of point-to-point path programming is to find an optimized path from one point to another point without bump. Firstly, this thesis meshes the region that needs robot to traverse to some small region, then, traverse every small region by some evaluates. At the end of the thesis, computer simulated image of the traverse is presented.
The path programming of mobile robot is still on theoretic and experimental stage. There are few practical apply. It still needs much further research.
智能移动机器人最大的特点是：通过本身对外界环境信息的感知接收和处理，为自己规划行走路线，来达到人们使用移动机器人完成某一任务的目的，即它具有一定的“智能”，一定的自主能力。
本文研究的重点在于移动机器人的路径规划，和通常所说的点到点的路径规划不同，本文研究的主要内容是机器人路径的遍历规划，遍历规划是在满足某种性能评价指标最优的前提下寻找一条在设定区域内从始点到终点且经过所有可达点的连续路径；而点到点规划的目标是寻求一条从始点到终点的无碰撞最优路径。本文首先将给定的需要智能移动机器人遍历的区域按照文中提出的规则划分成几个子区域，然后遵循一定原则按照某种性能评价指标分别遍历每个子区域，最后给出了遍历子区域的计算机仿真图形。
智能移动机器人的遍历路径规划目前大部分处在理论和实验阶段，只有很少数的实用，还需要继续深入研究，使它能够在将来达到很好的实用水平，更好的为人类服务。
Mobile robot is an important branch of robot. It involves artificial intelligence (AI), intelligent control, information procession, image procession and detection and conversion. It refers to computer science, auto control, mechanical, electronic science. It's one of the key researches on intelligent robot now.
The most important character of mobile robot is that it programs a path to do something by detecting and dealing environmental information by itself. In other words, it has some intelligence.
This thesis studied the path programming of mobile robot. Be different with usually point-to-point path programming, this thesis studied the traverse programming. Under the precondition of satisfying every performance, a continuous path, which passes through every arrival point from start to end, will be found. However, the aim of point-to-point path programming is to find an optimized path from one point to another point without bump. Firstly, this thesis meshes the region that needs robot to traverse to some small region, then, traverse every small region by some evaluates. At the end of the thesis, computer simulated image of the traverse is presented.
The path programming of mobile robot is still on theoretic and experimental stage. There are few practical apply. It still needs much further research.
引文
1．王炎、周大威。移动式服务机器人的发展现状及我们的研究。电气传动，2000，4：3～7
2．汪云淘，吴林。移动式智能服务机器人的现状。机器人增刊，1998，20：11～15
3．艾海舟，张钹。移动机器人路径规划系统。模式识别与人工智能，1991，4(1)：51～57
4. Xu dianguo, Liu Shuxia. Design of Wall-Climbing Robot for Cleaning with a Single Suction Cup. The 2th International Conference on Climbing and Walking Robots(CLAW AR99)Portsm outh, UK, Sept. 1999: 405～411
5．蒋新松。未来机器人技术发展方向的探讨。机器人，1996，18(5)：285～291
6. Wang Yan, Liu Shuliang. Development and Application of Wall-Climbing Robots. Proceeding of the 1999 IEEE International Conference on Robotics and Automation, Detroit. 1999: 1207～1212
7．周大威，高学山。微压传感器在全方位移动吸尘机器人中的应用。自动化技术与应用，1999，(6)：26～28
8. ULF Larsson, Johan Forsberg, Ake Wernersson. On Robot Navigation Using Identical Landmarks: Integrating Measurements from a Time-of-flight Laser. IEEE International Conference on Multisensor Fusion and Inteligent System (MFI'94) 1994: 2～5
9．袁军等。智能系统多传感器信息融合研究进展。控制理论与应用，1994，11(5)
10. Sene Zapata, Lepinay P, Thompson P. Reactive Behaviors of Fast mobile Robots. Journal of Robotic Systems, 1994, 11(1), 13～20
11．陈文化。野外自主车陆地组合导航系统研究。机器人，1995，17(5)：286～291
12. Partaatmadija O, Benhabib B, Goldenberg A A. Analysis and Design of a Robotic Distance Sensor. Journal of Robotic Systems. 1993, 10(4): 427～445
13. Min-Hong Han, Sang-Yong Rhee. Navigation Control for a Mobile Robot. Journal of Robotic System, 1994, 11(3), 169～179
14．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)：38～44
15．马保离等。移动小车的路径跟踪与镇定。机器人，1995，17(6)：358～362
16. Naghdy F, Kennedy R. Low Level Fuzzy Image Processing in Unstructed Environment Proceedings of '95 International Mechatronics & Automation Conference (Hong Kong): 193～198
17．冯建农，柳明，吴捷。自主移动机器人智能导航研究进展。机器人，1997，19(6)468～473
18. French R l. Historical overview of automobile navigation technology. IEEE Vehicular Technology Conference, 1986, 350～358
19．韩献忠等。自主车技术，自动化学报，1992，18(5)：513～520
20．何克忠，郭木河等。智能移动机器人技术研究。机器人技术与应用，1996(2)：11～13
21．马明山，朱绍文，何克忠等。室外智能移动机器人运动方向测量系统。电子技术应用，1997(4)：9～10
22．马明山，朱绍文，何克忠。室外移动机器人定位技术研究，电工技术学报。1998，13(2)：43～46
23. Shani U. Filling regions in birary raster images: A graph-theotic approach, sigaraaph'80 conf proc, 321～327
24. Khatib O. Real-time obstacle avidance for manupulators and mobile robots. The inter J of robotics research, 1986, 5: 72～89
25. Krogh B H, Thorpe C E. Integrated path planning and dynamic steering control for automobile vehicle. Proc IEEE inter conf on robotical and automation, San Franeisco, 1986: 232～241
26. Fhosla P, Volpe R. Soperquadic artifical potentials for obstacle avoidance and approach. Proc IEEE inter conf on robotics and automation, Philiadephia, PA, 1988: 169～193
27．谈士力，龚振邦，万德钧。壁面移动机器人随机障碍避碰路径规划研究，应用科学学报，1997，15(3)：310～314
28. Borenstein J, Koren Y. Real-time Obstacle Avoidance for Fast Mobile Robots in Cluttered Environments. In: The 1990 IEEE International Conference on Roboties and Automation. Cininnati Ohio, 1990: 572～577
29. Koren Y, Borenstein J. Potenial Field Methods and Their Inherent Limitations for Mobile Robot Navigation. In: Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, California, 1991: 1398～1404
30. Borenstein J, Koren Y. Real-time Obstacle Avoidance for Fast Mobile Roborts. IEEE Transactions on Systems, Man, and Cybernetics, 1989, 19(5): 1179～1187
31. Moravec H P. Sensor Fusion in Certainty Grids for Mobile Robots. AI Magazine, 1988: 61～74
32. Arkin R C. Motor Schema-based Mobile Robot Navigation. The International Journal of Robotics Research, 1989, (8): 92～112
33．袁军，黄心汉，陈锦江。基于多传感器的智能机器人信息融合、控制结构和应用，机器人，1994，16(5)：314～315
34．孟庆浩，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)：273～274
35．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)：344～348
36．黄毓瑜，曹作良，E．L．Hall．移动机器人区域充满运行的计算机模拟，机器人，1989，3(1)：33～39
37. Perez T L. Automatic planning of manipulator transfer movement. IEEE Tran on System, Man and Cybernetics, 1981; 1: 681-698
38. Sanderson R J. Machine vision systems, a summary and forecast. Tech Tran Corp: 7-8
39. Shani U. Filling regions in binary raster images: a graph—theoretic approach. SIGGRAPH' Conference Proceedings: 321～327
40. Cao Z L, Oh S J, Hall E L. Dynamic Omnidirectional vision for mobile robot. Proc of Fourth Intelligent Robot and Computer Vision Conf, Boston, MA, Sept, 1985
41．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)：486～492
42．肖位枢。图论极其算法。航空工业出版社，1993年7月第一版
43．李素蓉。机器人技术展望，兵工自动化，1999，2：31～32
44．徐阳。面向未来的新型机器人技术，机器人技术与应用，2002，1：2～4
2．汪云淘，吴林。移动式智能服务机器人的现状。机器人增刊，1998，20：11～15
3．艾海舟，张钹。移动机器人路径规划系统。模式识别与人工智能，1991，4(1)：51～57
4. Xu dianguo, Liu Shuxia. Design of Wall-Climbing Robot for Cleaning with a Single Suction Cup. The 2th International Conference on Climbing and Walking Robots(CLAW AR99)Portsm outh, UK, Sept. 1999: 405～411
5．蒋新松。未来机器人技术发展方向的探讨。机器人，1996，18(5)：285～291
6. Wang Yan, Liu Shuliang. Development and Application of Wall-Climbing Robots. Proceeding of the 1999 IEEE International Conference on Robotics and Automation, Detroit. 1999: 1207～1212
7．周大威，高学山。微压传感器在全方位移动吸尘机器人中的应用。自动化技术与应用，1999，(6)：26～28
8. ULF Larsson, Johan Forsberg, Ake Wernersson. On Robot Navigation Using Identical Landmarks: Integrating Measurements from a Time-of-flight Laser. IEEE International Conference on Multisensor Fusion and Inteligent System (MFI'94) 1994: 2～5
9．袁军等。智能系统多传感器信息融合研究进展。控制理论与应用，1994，11(5)
10. Sene Zapata, Lepinay P, Thompson P. Reactive Behaviors of Fast mobile Robots. Journal of Robotic Systems, 1994, 11(1), 13～20
11．陈文化。野外自主车陆地组合导航系统研究。机器人，1995，17(5)：286～291
12. Partaatmadija O, Benhabib B, Goldenberg A A. Analysis and Design of a Robotic Distance Sensor. Journal of Robotic Systems. 1993, 10(4): 427～445
13. Min-Hong Han, Sang-Yong Rhee. Navigation Control for a Mobile Robot. Journal of Robotic System, 1994, 11(3), 169～179
14．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)：38～44
15．马保离等。移动小车的路径跟踪与镇定。机器人，1995，17(6)：358～362
16. Naghdy F, Kennedy R. Low Level Fuzzy Image Processing in Unstructed Environment Proceedings of '95 International Mechatronics & Automation Conference (Hong Kong): 193～198
17．冯建农，柳明，吴捷。自主移动机器人智能导航研究进展。机器人，1997，19(6)468～473
18. French R l. Historical overview of automobile navigation technology. IEEE Vehicular Technology Conference, 1986, 350～358
19．韩献忠等。自主车技术，自动化学报，1992，18(5)：513～520
20．何克忠，郭木河等。智能移动机器人技术研究。机器人技术与应用，1996(2)：11～13
21．马明山，朱绍文，何克忠等。室外智能移动机器人运动方向测量系统。电子技术应用，1997(4)：9～10
22．马明山，朱绍文，何克忠。室外移动机器人定位技术研究，电工技术学报。1998，13(2)：43～46
23. Shani U. Filling regions in birary raster images: A graph-theotic approach, sigaraaph'80 conf proc, 321～327
24. Khatib O. Real-time obstacle avidance for manupulators and mobile robots. The inter J of robotics research, 1986, 5: 72～89
25. Krogh B H, Thorpe C E. Integrated path planning and dynamic steering control for automobile vehicle. Proc IEEE inter conf on robotical and automation, San Franeisco, 1986: 232～241
26. Fhosla P, Volpe R. Soperquadic artifical potentials for obstacle avoidance and approach. Proc IEEE inter conf on robotics and automation, Philiadephia, PA, 1988: 169～193
27．谈士力，龚振邦，万德钧。壁面移动机器人随机障碍避碰路径规划研究，应用科学学报，1997，15(3)：310～314
28. Borenstein J, Koren Y. Real-time Obstacle Avoidance for Fast Mobile Robots in Cluttered Environments. In: The 1990 IEEE International Conference on Roboties and Automation. Cininnati Ohio, 1990: 572～577
29. Koren Y, Borenstein J. Potenial Field Methods and Their Inherent Limitations for Mobile Robot Navigation. In: Proceedings of the 1991 IEEE International Conference on Robotics and Automation, Sacramento, California, 1991: 1398～1404
30. Borenstein J, Koren Y. Real-time Obstacle Avoidance for Fast Mobile Roborts. IEEE Transactions on Systems, Man, and Cybernetics, 1989, 19(5): 1179～1187
31. Moravec H P. Sensor Fusion in Certainty Grids for Mobile Robots. AI Magazine, 1988: 61～74
32. Arkin R C. Motor Schema-based Mobile Robot Navigation. The International Journal of Robotics Research, 1989, (8): 92～112
33．袁军，黄心汉，陈锦江。基于多传感器的智能机器人信息融合、控制结构和应用，机器人，1994，16(5)：314～315
34．孟庆浩，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)：273～274
35．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)：344～348
36．黄毓瑜，曹作良，E．L．Hall．移动机器人区域充满运行的计算机模拟，机器人，1989，3(1)：33～39
37. Perez T L. Automatic planning of manipulator transfer movement. IEEE Tran on System, Man and Cybernetics, 1981; 1: 681-698
38. Sanderson R J. Machine vision systems, a summary and forecast. Tech Tran Corp: 7-8
39. Shani U. Filling regions in binary raster images: a graph—theoretic approach. SIGGRAPH' Conference Proceedings: 321～327
40. Cao Z L, Oh S J, Hall E L. Dynamic Omnidirectional vision for mobile robot. Proc of Fourth Intelligent Robot and Computer Vision Conf, Boston, MA, Sept, 1985
41．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)：486～492
42．肖位枢。图论极其算法。航空工业出版社，1993年7月第一版
43．李素蓉。机器人技术展望，兵工自动化，1999，2：31～32
44．徐阳。面向未来的新型机器人技术，机器人技术与应用，2002，1：2～4