采用有源测距技术的自主移动机器人路径规划设计.doc

PAGE 采用有源测距技术的自主移动机器人路径规划 摘要 随着科学技术的飞速猛进的的发展和人类生产生活的的需要，移动机器人已广泛应用于军事、工业、医学和人民的日常生活中。帮助人类完成一些危险高、难度大和工作环境特殊的任务。人类对移动机器人研究开始于上世纪中后期，它是人工智能、传感器技术、计算机工程、电子信息处理、自动化控制等多种高新技术结合的产物，也是机电一体化的最高成就。因此，移动机器人技术在近几年已成为科学研究的一个热点，得到世界各国特别重视。 本设计基于红外线测距的自主移动机器人路径规划问题进行了较为深入的探讨和分析。首先，对国内外智能移动机器人的研究现状，以及移动机器人在对环境的感知技术，多传感器信息融合技术以及群体机器人的路径规划技术的发展趋势进行了综述。然后介绍了红外线测距原理，讨论了红外线测距之于超声波测距的优势。重点探讨了基于红外线测距的自主移动机器人路径规划技术，以等高图法进行环境建模，以左手法则作为研究算法实现了一个可以自主完成路径规划和起点到终点最短路径规划的一个应用性例子“迷宫移动机器人”的设计。最后分析了本设计的一些不足，展望了机器人路径规划的未来发展趋势和研究方向。 关键词：有源测距；自主移动机器人；路径规划；红外测距 ABSTRACT With the rapid science and technology Mengjin of development and human production.and lifes needs, the mobile robot has been widely used in military, industrial, medical, and peoples daily life. Help humans to dangerous, difficult and special working environment tasks. Human research on mobile robot began in the late last century, it is the product of the combination of artificial intelligence, sensor technology, computer engineering, electronic information processing, automation and control a variety of high-tech, mechanical and electrical integration of the highest achievement. Therefore, the mobile robot technology in recent years has become a hot topic of scientific research, special attention to countries in the world. Based on the design of the infrared ranging autonomous mobile robot path planning problem undertook relatively thorough discussion and analysis. First of all, on the domestic and international research status of intelligent mobile robot, and the robot in the environmental perception technique, the multi sensor information fusion technology and groups of robot path planning technology development trends were reviewed. Then introduced the infrared ranging principle, infrared ranging from the advantages of ultrasonic ranging. Focusing on the infrared ranging based on autonomous mobile robot path planning technology, with high chart method for environment modeling, using the left hand rule as the algorithm can achie