發(fā)布時(shí)間：2018-06-03 06:29

  本文選題：多機(jī)器人系統(tǒng) + 編隊(duì)控制算法�。� 參考：《山東大學(xué)》2017年碩士論文

【摘要】：近年來(lái),隨著科學(xué)技術(shù)的發(fā)展進(jìn)步,機(jī)器人技術(shù)越來(lái)越成熟,并且在社會(huì)生活中發(fā)揮了舉足輕重的作用。面對(duì)復(fù)雜任務(wù)時(shí),多機(jī)器人系統(tǒng)通常具備比單機(jī)器人更強(qiáng)的魯棒性和工作效率,因此得到了研究人員高度重視。編隊(duì)策略是多機(jī)器人協(xié)同工作的基礎(chǔ),它是指多機(jī)器人保持預(yù)定的隊(duì)形前進(jìn),同時(shí)避開(kāi)環(huán)境中的障礙物,最終抵達(dá)目標(biāo)點(diǎn)。這一過(guò)程中涉及到多機(jī)器人定位、控制策略、路徑規(guī)劃以及無(wú)線通信等多方面內(nèi)容。為確保機(jī)器人編隊(duì)能夠在未知環(huán)境中行進(jìn),需要時(shí)刻通過(guò)傳感器采集大量環(huán)境信息并進(jìn)行分析處理,以決定整個(gè)系統(tǒng)下一步的運(yùn)動(dòng)規(guī)劃。傳統(tǒng)機(jī)器人受自身機(jī)載設(shè)備的限制,在處理冗雜的環(huán)境信息時(shí)計(jì)算效率往往不足,影響整個(gè)系統(tǒng)的實(shí)時(shí)性,而云機(jī)器人概念的提出為解決這一問(wèn)題提供了思路。云機(jī)器人能夠?qū)��?fù)雜的計(jì)算任務(wù)卸載到云端,利用云計(jì)算為機(jī)器人提供強(qiáng)大的計(jì)算能力。本文旨在將云計(jì)算與機(jī)器人編隊(duì)相結(jié)合,充分發(fā)揮云端在數(shù)據(jù)運(yùn)算方面的優(yōu)勢(shì),降低機(jī)器人對(duì)硬件部分的依賴,提升系統(tǒng)的工作性能。本文的研究?jī)?nèi)容主要分為編隊(duì)控制策略和云機(jī)器人系統(tǒng)實(shí)現(xiàn)兩個(gè)部分。在編隊(duì)控制策略部分,采取領(lǐng)航-跟隨算法實(shí)現(xiàn)隊(duì)形保持,利用人工勢(shì)場(chǎng)法進(jìn)行路徑規(guī)劃,使機(jī)器人編隊(duì)具備在未知環(huán)境中工作的能力。在云機(jī)器人系統(tǒng)部分,為將云計(jì)算與機(jī)器人編隊(duì)相結(jié)合,本文搭建了一個(gè)基于AmigoBot和中國(guó)電信天翼云主機(jī)的多機(jī)器人云平臺(tái)。在這一系統(tǒng)中,機(jī)器人與云主機(jī)之間采取C/S構(gòu)架進(jìn)行編隊(duì)運(yùn)行。機(jī)器人作為客戶端,將專注于環(huán)境信息采集和編隊(duì)任務(wù)執(zhí)行;云主機(jī)作為服務(wù)器,將處理機(jī)器人采集的數(shù)據(jù)并運(yùn)行編隊(duì)算法,為機(jī)器人編隊(duì)進(jìn)行運(yùn)動(dòng)規(guī)劃。為保證網(wǎng)絡(luò)通信的穩(wěn)定性,防止數(shù)據(jù)處理過(guò)程中出現(xiàn)丟失等問(wèn)題,機(jī)器人與云主機(jī)之間的通信采用基于TCP/IP的網(wǎng)絡(luò)傳輸協(xié)議。本文首先從多機(jī)器人系統(tǒng)和云機(jī)器人的理論意義和現(xiàn)實(shí)價(jià)值出發(fā),闡述了本課題的研究目的,并介紹了國(guó)內(nèi)外關(guān)于多機(jī)器人系統(tǒng)和云機(jī)器人方面的研究進(jìn)展,對(duì)機(jī)器人編隊(duì)的一些基本概念和經(jīng)典算法進(jìn)行了概述。其次,根據(jù)編隊(duì)需要面向未知環(huán)境的要求,綜合現(xiàn)有的研究成果,提出了一種領(lǐng)航-跟隨法與人工勢(shì)場(chǎng)法相結(jié)合的編隊(duì)控制策略,同時(shí)對(duì)原有算法進(jìn)行了改進(jìn),解決了系統(tǒng)的軌跡抖動(dòng)問(wèn)題。之后對(duì)多機(jī)器人系統(tǒng)的隊(duì)形形成、隊(duì)形保持、路徑規(guī)劃等方面進(jìn)行了仿真和實(shí)驗(yàn)。然后,介紹了實(shí)驗(yàn)部分將要采用的AmigoBot和天翼云主機(jī),分別解析了二者的工作模式,概述了網(wǎng)絡(luò)通信所采用的TCP/IP協(xié)議的基本概念和數(shù)據(jù)傳輸流程,并測(cè)試了 AmigoBot與云主機(jī)之間網(wǎng)絡(luò)通信的穩(wěn)定性。最后,搭建了云機(jī)器人編隊(duì)系統(tǒng),對(duì)云計(jì)算與機(jī)器人編隊(duì)相結(jié)合的理論進(jìn)行了一系列的仿真和實(shí)驗(yàn),并分析了實(shí)驗(yàn)結(jié)果。實(shí)驗(yàn)結(jié)果表明該系統(tǒng)能夠有效地將機(jī)器人的運(yùn)算任務(wù)轉(zhuǎn)移到云端,減輕機(jī)器人的負(fù)擔(dān),提高數(shù)據(jù)處理效率,從而證明了將云計(jì)算應(yīng)用于機(jī)器人編隊(duì)的可行性。
[Abstract]:In recent years, with the development and progress of science and technology, robot technology is becoming more and more mature and plays an important role in social life. In the face of complex tasks, the multi robot system is usually more robust and efficient than single robot. Therefore, the researchers attach great importance to the robot. The formation strategy is multi robot. The basis of collaborative work is that multi robots keep the scheduled formation and avoid obstacles in the environment and reach the target point. This process involves multi robot positioning, control strategy, path planning and wireless communication. In order to ensure that the robot formation can travel in the unknown environment, it takes time to make sure that the robot is able to travel in the unknown environment. A lot of environmental information is collected and analyzed by sensors to determine the motion planning of the whole system in the next step. The traditional robot is limited by its own airborne equipment, and the computation efficiency is often insufficient when dealing with the miscellaneous environmental information, which affects the real time of the whole system, and the concept of cloud robot provides a solution to this problem. The cloud robot can unload the complex computing task to the cloud, and use the cloud computing to provide the powerful computing power for the robot. This paper aims to combine the cloud computing with the robot formation, give full play to the advantages of the cloud computing in the data operation, reduce the dependence of the robot on the hardware part and improve the performance of the system. The research contents are divided into two parts: formation control strategy and cloud robot system implementation. In the formation control strategy part, the formation keeping is realized by navigation following algorithm, and the artificial potential field method is used to make path planning, so that the robot formation has the ability to work in the unknown environment. Combined with robot formation, a multi robot cloud platform based on AmigoBot and China Telecom sky wing cloud hosts is built in this paper. In this system, a C/S framework is used between the robot and the cloud host for formation and operation. As a client, the robot will focus on the environment information collection and formation task execution; the cloud host is the server. In order to ensure the stability of the network and prevent the loss of the data processing, the communication between the robot and the cloud host is based on the TCP/IP based network transmission protocol. Firstly, the multi robot system and the cloud machine are used in this paper. On the basis of the theoretical and practical value of human, this paper expounds the research aim of this subject, and introduces the research progress on the multi robot system and the cloud robot both at home and abroad, and summarizes some basic concepts and classical algorithms of the robot formation. Secondly, according to the requirements of the formation needs for the unknown environment, the existing research is integrated. As a result, a formation control strategy which combines the navigation following method and the artificial potential field method is proposed. At the same time, the original algorithm is improved and the trajectory jitter of the system is solved. After that, the formation of the formation, formation keeping and path planning of the multi robot system are simulated and experimentation. Then, the experimental part will be introduced. In order to use the AmigoBot and the sky wing cloud host, the working mode of the two people is analyzed, the basic concepts and data transmission flow of the TCP/IP protocol used in the network communication are summarized, and the stability of the network communication between the AmigoBot and the cloud host is tested. Finally, the cloud machine man formation system is built, and the cloud computing and the robot formation are formed. The theory carried out a series of simulation and experiments, and analyzed the experimental results. The experimental results show that the system can effectively transfer the computing task of the robot to the cloud end, reduce the burden of the robot and improve the efficiency of data processing, thus proving the feasibility of applying cloud computing to robot formation.
【學(xué)位授予單位】：山東大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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