發(fā)布時(shí)間：2018-06-03 16:53

  本文選題：移動傳感網(wǎng)絡(luò) + 路徑規(guī)劃��； 參考：《湖南科技大學(xué)》2017年碩士論文

【摘要】：煤礦監(jiān)測監(jiān)控系統(tǒng)是保證現(xiàn)代化煤礦安全生產(chǎn)的重要手段,其中無線傳感網(wǎng)絡(luò)技術(shù)為解決井下煤礦安全監(jiān)控問題提供了有效技術(shù)手段和途徑。相比傳統(tǒng)無線傳感器網(wǎng)絡(luò),基于移動機(jī)器人節(jié)點(diǎn)的移動傳感器網(wǎng)絡(luò)更能滿足煤礦正常生產(chǎn)與救援條件下的信息獲取需求。針對煤礦井下的復(fù)雜環(huán)境及其安全生產(chǎn)需求,本文將移動機(jī)器人作為傳感器網(wǎng)絡(luò)的節(jié)點(diǎn),研究節(jié)點(diǎn)定向移動和節(jié)點(diǎn)部署的行為規(guī)劃與控制方法。本文首先介紹了課題的背景及意義、國內(nèi)外發(fā)展現(xiàn)狀以及研究的主要內(nèi)容,并簡單說明了論文的章節(jié)安排。第二,本文研究了在局部動態(tài)環(huán)境下,單移動機(jī)器人節(jié)點(diǎn)的路徑規(guī)劃問題。針對傳統(tǒng)勢場法中,機(jī)器人對移動障礙物避障效率較低,路徑中存在局部極小點(diǎn)等缺陷,本文構(gòu)建了一種基于勢流理論的勢場模型,勢流理論中的概念與路徑規(guī)劃中的概念一一對應(yīng)。為保證對移動障礙物避障的可靠性,應(yīng)用茹科夫斯基變換對勢場分布及函數(shù)進(jìn)行了改進(jìn),引入點(diǎn)渦和虛擬點(diǎn)源的概念以解決局部極小問題并優(yōu)化軌跡,該部分最后討論了若干勢場加權(quán)疊加方法。在本部分的仿真中,在多種避障情景下對比了改進(jìn)前后的勢場法。結(jié)果表明,改進(jìn)勢場能夠引導(dǎo)機(jī)器人對移動障礙物進(jìn)行靈活避障,在避免局部極小點(diǎn)時(shí)較傳統(tǒng)方法更為有效。第三,研究提出基于logistic曲線的移動機(jī)器人優(yōu)化軌跡規(guī)劃方法。在描述了基本軌跡規(guī)劃問題,介紹并完善logistic曲線的基本性質(zhì)之后,進(jìn)一步提出半S型曲線。討論曲率界值、概念化障礙物避障和不連續(xù)通道三種約束,以滿足實(shí)際情況中機(jī)器人所需的軌跡約束條件。在理論和仿真實(shí)驗(yàn)兩個(gè)方面與其他類型曲線進(jìn)行了對比,并在綜合情景下對logistic曲線規(guī)劃的有效性進(jìn)行了驗(yàn)證。仿真結(jié)果表明,提出方法能夠通過靈活控制設(shè)計(jì)參數(shù)滿足各種類型約束條件,相較傳統(tǒng)類型的軌跡,其設(shè)計(jì)算法更為簡單直觀,計(jì)算量更小,且方法具有互換性。最后,研究多機(jī)器人的改進(jìn)勢場法路徑規(guī)劃問題,對實(shí)際作業(yè)中需要滿足的三個(gè)重要條件進(jìn)行了討論。為保證機(jī)器人之間的基礎(chǔ)避碰,使用社群勢場定義機(jī)器人之間的相互作用力;當(dāng)人類與機(jī)器人在環(huán)境中共存時(shí),使用行為勢場,兼顧機(jī)器人移動效率和對人類避障,以尋求安全與效率之間的平衡;提出防堵勢場識別并避免全局擁堵。在仿真中,結(jié)合三種勢場,對提出的規(guī)劃方法的有效性進(jìn)行了驗(yàn)證。在實(shí)驗(yàn)中,通過投影方法表示實(shí)驗(yàn)結(jié)果并進(jìn)行了對比,進(jìn)一步說明了提出方法較傳統(tǒng)方法效率更高。
[Abstract]:Coal mine monitoring and monitoring system is an important means to ensure the safety of modern coal mine production. Wireless sensor network technology provides an effective technical means and approach to solve the problem of underground coal mine safety monitoring. Compared with the traditional wireless sensor networks, the mobile sensor networks based on mobile robot nodes can meet the information acquisition needs of coal mine under normal production and rescue conditions. In view of the complex environment and the requirement of safe production in underground coal mine, this paper takes the mobile robot as the node of the sensor network, and studies the behavior planning and control method of the node directional movement and node deployment. This paper first introduces the background and significance of the subject, the development situation at home and abroad, as well as the main contents of the study, and briefly describes the chapter arrangement of the paper. Secondly, the path planning problem of single mobile robot nodes in local dynamic environment is studied in this paper. In view of the disadvantages of the traditional potential field method, such as the low efficiency of obstacle avoidance and the existence of local minima in the path, a potential field model based on the potential flow theory is constructed in this paper. The concepts in potential flow theory correspond to those in path planning. In order to ensure the reliability of obstacle avoidance for moving obstacles, the distribution and function of potential field are improved by using Zhukovsky transform. The concepts of point vortex and virtual point source are introduced to solve the local minimum problem and optimize the trajectory. In the end, some potential field weighted superposition methods are discussed. In the simulation of this part, the potential field method before and after the improvement is compared in many kinds of obstacle avoidance scenarios. The results show that the improved potential field can guide the robot to avoid obstacles flexibly and is more effective than the traditional method in avoiding local minima. Thirdly, an optimal trajectory planning method for mobile robot based on logistic curve is proposed. After describing the basic trajectory planning problem and introducing and perfecting the basic properties of the logistic curve, the semi-S-shaped curve is further proposed. This paper discusses three kinds of constraints, such as curvature bound, conceptualized obstacle avoidance and discontinuous channel, in order to satisfy the trajectory constraint conditions required by the robot in practice. The theoretical and simulation results are compared with other types of curves, and the effectiveness of logistic curve planning is verified in a comprehensive scenario. The simulation results show that the proposed method can satisfy all kinds of constraint conditions by flexibly controlling the design parameters. Compared with the traditional type of trajectory, the proposed method is simpler and more intuitive, less computational and interchangeability. Finally, the path planning problem of the improved potential field method for multi-robots is studied, and three important conditions to be satisfied in practical operation are discussed. In order to guarantee the basic collision avoidance between robots, the community potential field is used to define the interaction force between robots, and when human and robot coexist in the environment, the behavior potential field is used to take into account the robot's mobility efficiency and obstacle avoidance. In order to find the balance between safety and efficiency, the anti-blocking potential field is identified and global congestion is avoided. In the simulation, the effectiveness of the proposed programming method is verified by combining the three potential fields. In the experiment, the projection method is used to express the experimental results and the comparison is made, which further shows that the proposed method is more efficient than the traditional method.
【學(xué)位授予單位】：湖南科技大學(xué)
【學(xué)位級別】：碩士
【學(xué)位授予年份】：2017
【分類號】：TP242

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本文編號：1973502