| 英文摘要 | With the development of robotics technology,the application of robotics has been extended more and more widely.The robot is required not only to complete some large-scale assemblage tasks in works,but also to achieve complex missions in indoor and outdoor environment.To accomplish those missions mentioned above,an experimental mobile platform with good stability and openness is needed.Therefore, to develop a mobile robot,which is used in industry area or service area and prone to redeveloped by users,should have very good market potential and research value. This thesis focuses on the design of all indoor mobile robot platform,navigation and localization problems for indoor mobile robots. Firstly,the locomotion framework and control architecture of mobile robots are analyzed.The main research contents and development directions of navigation and localization for mobile robots are summarized.The background and structure of this thesis are also introduced. Secondly,this paper proposes and designs the locomotion framework,sensing system and control system for the mobile robot CASIA-I and develops the robot.The mobile platform integrates the merits and shortcomings of the traditional three-wheel platform,four-wheel platform,six-wheel platform and Omni-directional platform,its platform shape is 1 6-prism frame,its locomotion system is a dual-differential drive system:two drive wheels and two castors with a suspension device each are put perpendicularly on the diameter of the chassis circle.The sensing system consists of a set of optical encoders serving as interior sensor,a set of sonar,two sets of IR detectors and an active vision system as exterior sensors. Thirdly,because the navigation environment of mobile robot is non-structure, which can not be acquired in advance.but need to sense the environment in real time by sensors to plan its movement,a behavior-based navigation method for wheeled mobile robot is proposed by the thesis.The navigation control architecture for the mobile robot is subsumption architecture that composes of several behavior,based modules.Each behavior module can decide its own output according to the sensors' inputs and the restrain to lower behavior layer by upper behavior. Fourthly, This thesis proposes and designs an active vision sensing system for the mobile robot CASIA-I.The sensing system comprises the image processing units based on DSP and embedded PC 1 04 Plus.In addition,a camera calibration method based on polynomial fit for the vision system is put forward. Fifthly,this paper proposes a doorplate landmark based navigation and localization method and target searching strategies for mobile robots.In the method,the mobile robot can move forward parallel to the two sides wall of corridor by visual servoing on the vanishing point.In addition,the robot Can navigate and localize itself in corridor by a set of image processing algorithms,such as door and doorplate position and |
修改评论