基于信息融合的移动机器人路径规划

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1、北京交通大学硕士学位论文基于信息融合的移动机器人路径规划姓名：郑慧侠申请学位级别：硕士专业：计算机应用技术指导教师：王奇志20080601』量塞交通丕堂亟±堂位途塞△垦SI!坠￡!ABSTRACTPathplanningisanimportantissueforthenavigationoftheautonomousmobilerobot．Informationfusionisadevelopingpracticaltechnology．ItisavaluabletoolforInformationProcessandDecisionSupportinthesefields．Inf

2、ormationfusionmethodisprovedtobeeffectiveinordertoimprovetherobotintelligence．Pathplanningofmobilerobotbasedontheinformationfusionisresearched．ThepurposeofthisresearchistorealizethatthemobilerobotCantravelinsecuritytosomegoalsfromstartingpointinobstacleenvironment．Thisresearchinferstotherealiz

3、ationsoftwocontrolvariable，movementcontrolandexperimentsinsimulatorsystemandthemobilerobot．Atfirst，thetheoryofthispapertopicissystemicsummarized，andthetechnologiesofinformationfusion，locationandpathplanningareanalyzed．Atthesametime，theelementaryexperimentationresultsoftheresearchandthedevelopm

4、entsettingareintroduced．Theexperimentationwithsimulationandrealsituationaboutthebasicactionsandtheobstaclesavoidanceareresearched．Andexperimentationconclusionsaresatisfied．Intheresearchofpathplanning，thetechnologyofbehavior-basedandlocalpathplanningarecombinedtorealizepathplanningofmobilerobot

5、．AndfuzzylogicalgorithmbasedonMamdanimodelisusedinlocalpathplanning．Atfirst，aFuzzyControllerisdesignedandFuzzyLogicToolboxinMATLABisusedtocheckthevalueofFuzzyLogiccontroller．More，ExperimentationofLocatoinandNavigationwithsimulationinARNLiSmadeandthesimulationresultsdemonstratethatmobilerobotca

6、navoidobstacles，andreachthegoalsuccessfully．KEYWoRDS：InformationFusion；PathPlanning；FuzzyLogic；MobileRobotCLASSN0：TP242．6图目录图2．1身份识别融合算法分类⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯7图2．2P3声纳分布图⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯14图3—1P3一DX移动机器人结构模型⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯一17图3．2P3一DX局部坐标系⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯．17图3．3全局坐标系与局部举标系对应关系⋯⋯⋯⋯

7、⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯18图3．4运动学模型⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯19图3．5圆弧运动俯视图⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯．2l图3-6移动机器人基本行为⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯．23图4．1模糊控制器结构图⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯30图5．1与机器人相连的计算机类别⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯33图5．2ARIA结构图⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯34图5．3库文件路径配