市内移动机器人总体功能的概念性设计及计算机虚拟仿真
摘要
市内移动机器人是机器人研究领域中的一个重要分支，有着广阔的应用前景。从高速公路上的无人驾驶车辆，到危险环境中的消防机器人、城市战斗机器人以及互相协作的足球机器人，机器人的应用研究正逐步向纵深发展。
随着系统的日益复杂和运算量的日益增加，对计算设备能力的要求也日益提高，而多数轻便灵活型的机器人难以携带大量的计算设备。因此，将计算机和机器人分开，机器人把观察到的视觉信号和传感器信号，按照制定的标准合成，然后传送到远方计算机上，由功能强大的远方计算机进行分解和处理，并发出控制信号给机器人的传动机构以控制机器人行为，或者由机器人完成一些避障类的低层操作，而高层操作由远方高性能机器、或人工在虚拟环境中遥控完成：将VR技术应用到移动机器人导航研究中将是一种可行的方法。
本文以市内半自主式移动机器人为研究对象，在研究整体系统组成及功能结构的基础上，对其主要功能进行了概念性分析设计，并着重研究了其中几项主要的基本的功能：包括速度控制、路径规划、目标跟踪等，分别研究了这些功能实现的算法，如PID算法、迭代学习算法、模糊逻辑算法等，并应用MATLAB进行仿真分析。
本文采用VRML(虚拟现实建模语言)建立了移动机器人的模型及相关的虚拟场景，并实现了简单的动画及与用户交互能力；应用MATLAB中集成的VR工具箱将机器人的Simulink模型和三维模型建立关联，使得仿真过程和结果能以一种直观的形式演示出来，从而利用Simulink模型产生的信号数据控制和操纵虚拟世界中机器人的运动。
The research of urban mobile robot is a important embranchment in the field of robot research and have wide application foreground, such as automotive vehicle on speedway, fire-fighting robot in dangerous environment, concurrent football robots and so on. We can see the research is outspreading in depth by degrees.
With the increasing complexity of the system and quantity of operation, the need of power for equipment is raising day by day. But most of portable flexible robots are difficult to take many facilities. So, divide the computer from robot. The robot compounds vision signal and sensor signal observed by itself, and transmits them to the computer far away. The powerful computer, then, analyses and deals with them, sends out signal to gearing of the robot to control its action in succession. Or the robot just does some low-end work such as avoiding blocks, and other work will be done by the powerful machine in the distance or manual work in virtual environment via remote control: to apply the technique of virtual reality to the research of navigation of mobile robots is a feasible method.
Considering a half-freedom mobile robot, the paper had done some conceptual analysis and design, then emphasized on some essential functions, including velocity control, path plan, target tracking etc. Studied the algorithms respectively, such as PID algorithms, iterative algorithms, fuzzy logic algorithms, and so on, and used MATLAB to simulate and compared with each other.
The paper established the model of the robot and correlative virtual scene by VRML (virtual reality modeling language) and actualized simple motivation and ability to interact with user; finally, connected the robot's simulink model with its three-dimensional model by VR toolbox integrated in MATLAB, which enabled the process of simulation to demonstrate in a intuitional way. Thus, we can control and manipulate a robot's movement in the virtual world with the signals came from its simulink model.
随着系统的日益复杂和运算量的日益增加，对计算设备能力的要求也日益提高，而多数轻便灵活型的机器人难以携带大量的计算设备。因此，将计算机和机器人分开，机器人把观察到的视觉信号和传感器信号，按照制定的标准合成，然后传送到远方计算机上，由功能强大的远方计算机进行分解和处理，并发出控制信号给机器人的传动机构以控制机器人行为，或者由机器人完成一些避障类的低层操作，而高层操作由远方高性能机器、或人工在虚拟环境中遥控完成：将VR技术应用到移动机器人导航研究中将是一种可行的方法。
本文以市内半自主式移动机器人为研究对象，在研究整体系统组成及功能结构的基础上，对其主要功能进行了概念性分析设计，并着重研究了其中几项主要的基本的功能：包括速度控制、路径规划、目标跟踪等，分别研究了这些功能实现的算法，如PID算法、迭代学习算法、模糊逻辑算法等，并应用MATLAB进行仿真分析。
本文采用VRML(虚拟现实建模语言)建立了移动机器人的模型及相关的虚拟场景，并实现了简单的动画及与用户交互能力；应用MATLAB中集成的VR工具箱将机器人的Simulink模型和三维模型建立关联，使得仿真过程和结果能以一种直观的形式演示出来，从而利用Simulink模型产生的信号数据控制和操纵虚拟世界中机器人的运动。
The research of urban mobile robot is a important embranchment in the field of robot research and have wide application foreground, such as automotive vehicle on speedway, fire-fighting robot in dangerous environment, concurrent football robots and so on. We can see the research is outspreading in depth by degrees.
With the increasing complexity of the system and quantity of operation, the need of power for equipment is raising day by day. But most of portable flexible robots are difficult to take many facilities. So, divide the computer from robot. The robot compounds vision signal and sensor signal observed by itself, and transmits them to the computer far away. The powerful computer, then, analyses and deals with them, sends out signal to gearing of the robot to control its action in succession. Or the robot just does some low-end work such as avoiding blocks, and other work will be done by the powerful machine in the distance or manual work in virtual environment via remote control: to apply the technique of virtual reality to the research of navigation of mobile robots is a feasible method.
Considering a half-freedom mobile robot, the paper had done some conceptual analysis and design, then emphasized on some essential functions, including velocity control, path plan, target tracking etc. Studied the algorithms respectively, such as PID algorithms, iterative algorithms, fuzzy logic algorithms, and so on, and used MATLAB to simulate and compared with each other.
The paper established the model of the robot and correlative virtual scene by VRML (virtual reality modeling language) and actualized simple motivation and ability to interact with user; finally, connected the robot's simulink model with its three-dimensional model by VR toolbox integrated in MATLAB, which enabled the process of simulation to demonstrate in a intuitional way. Thus, we can control and manipulate a robot's movement in the virtual world with the signals came from its simulink model.
引文
[1] Thorpe C, Hebert M, Kanade T, Shafer S.Toward Autonomous Driving: The CMU Nav Lab PartⅠ-Perc eption. IEEEExpert, 1991:31-422
[2] Thorpe C, Hebert M, Kanade T, Shafer S.Toward Autonomous Driving: The CMU Nav Lab PartⅡ-Arc hitectureand Systems. IEEEExpert, 1991:43-523
[3] Thorpe C, Kanade T.Third Annual Report for Perception for Outdoor Navigation. CMU Technical Report. 1992,CMU-RI-TR-92-164
[4] He KZ,Sun HH,Guo MH,Wang H.Research of Intelligent. Mobile Robot. In: Procof IEEE International Confer-enceon Industrial Technology(ICIT'96),Shanghai,China: 1996,503-507
[5] Yang X,He K, Guo M,Zhang B.A Prototype Toward Autonomous Navigation:The THMR-Ⅲ,In:Proceedings of 1998 International Conferenceon.Advancesin Vehicle Controland Safety-AVCS'98.Amiens,France: 19987
[6] Manigel J,Leonhard W.Vehicle Controlby Computer Vision. IEEE Transon Industrial Electromcs. 1992,39(3): 181-1888
[7] Kelly AJ. A Feed for ward Control Approachto the Local Navigation Problem for Autonomous Vehicles. CMU Robotics Institute Technical Report, 1994,CMU-RI-TR-94-1710
[8] Math Works. Matlab 6.0 with Simulink 4.0. 2001
[9] 申蔚，夏立文．虚拟现实技术．北京希望电子出版社，2002．9
[10] 汪成为等，灵境(虚拟现实)技术的理论、实现及应用，北京：清华大学出版社，1996．9
[11] 张家祥，方凌江，毛全胜．基于MATLAB6.x的系统分析与设计—虚拟现实．西安：西安电子科技出版社，2002
[12] 薛定宇，陈阳泉．基于MATLAB／Simulink的系统仿真技术及应用．北京：清华大学出版社，2002
[13] 闻新，周露，李东江．MATLAB模糊逻辑工具箱的分析与应用[M]．北京：科学出版社，2001．112-128．
[14] 张星．THMR-V室外移动机器人导航控制与监控系统的研究．硕士学位论文，清华大学计算机科学与技术系，北京，1999
[15] 王华清．基于分布式虚拟现实技术的飞行仿真系统研究．硕士学位论文，南京航空航天大学控制科学与工程系，南京，2002
[16] 罗荣海．机器人自动导引、跟踪控制研究．硕士学位论文．南京航空航天大学控制科学与工程系．南京，2002
[17] 何克忠，郭木河，王宏，孙海航．智能移动机器人技术研究．机器人技术与应用，1996，2：11-135
[18] 王宏，何克忠，张钹．智能车辆的自主驾驶与辅助导航．机器人，1997，19(2)：155-1609
[19] 国防科技预研重点项目《临场感遥控系统技术报告》，清华大学计算机系智能技术与系统国家重点实验室1998年9月
[20] 王沫然．Simulink4建模及动态仿真．北京：电子工业出版社，2002．1
[2] Thorpe C, Hebert M, Kanade T, Shafer S.Toward Autonomous Driving: The CMU Nav Lab PartⅡ-Arc hitectureand Systems. IEEEExpert, 1991:43-523
[3] Thorpe C, Kanade T.Third Annual Report for Perception for Outdoor Navigation. CMU Technical Report. 1992,CMU-RI-TR-92-164
[4] He KZ,Sun HH,Guo MH,Wang H.Research of Intelligent. Mobile Robot. In: Procof IEEE International Confer-enceon Industrial Technology(ICIT'96),Shanghai,China: 1996,503-507
[5] Yang X,He K, Guo M,Zhang B.A Prototype Toward Autonomous Navigation:The THMR-Ⅲ,In:Proceedings of 1998 International Conferenceon.Advancesin Vehicle Controland Safety-AVCS'98.Amiens,France: 19987
[6] Manigel J,Leonhard W.Vehicle Controlby Computer Vision. IEEE Transon Industrial Electromcs. 1992,39(3): 181-1888
[7] Kelly AJ. A Feed for ward Control Approachto the Local Navigation Problem for Autonomous Vehicles. CMU Robotics Institute Technical Report, 1994,CMU-RI-TR-94-1710
[8] Math Works. Matlab 6.0 with Simulink 4.0. 2001
[9] 申蔚，夏立文．虚拟现实技术．北京希望电子出版社，2002．9
[10] 汪成为等，灵境(虚拟现实)技术的理论、实现及应用，北京：清华大学出版社，1996．9
[11] 张家祥，方凌江，毛全胜．基于MATLAB6.x的系统分析与设计—虚拟现实．西安：西安电子科技出版社，2002
[12] 薛定宇，陈阳泉．基于MATLAB／Simulink的系统仿真技术及应用．北京：清华大学出版社，2002
[13] 闻新，周露，李东江．MATLAB模糊逻辑工具箱的分析与应用[M]．北京：科学出版社，2001．112-128．
[14] 张星．THMR-V室外移动机器人导航控制与监控系统的研究．硕士学位论文，清华大学计算机科学与技术系，北京，1999
[15] 王华清．基于分布式虚拟现实技术的飞行仿真系统研究．硕士学位论文，南京航空航天大学控制科学与工程系，南京，2002
[16] 罗荣海．机器人自动导引、跟踪控制研究．硕士学位论文．南京航空航天大学控制科学与工程系．南京，2002
[17] 何克忠，郭木河，王宏，孙海航．智能移动机器人技术研究．机器人技术与应用，1996，2：11-135
[18] 王宏，何克忠，张钹．智能车辆的自主驾驶与辅助导航．机器人，1997，19(2)：155-1609
[19] 国防科技预研重点项目《临场感遥控系统技术报告》，清华大学计算机系智能技术与系统国家重点实验室1998年9月
[20] 王沫然．Simulink4建模及动态仿真．北京：电子工业出版社，2002．1
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