DOC《（申请工学硕士学位论文）》

(申请工学硕士学位论文) 未知环境下基于SLAM的移动 机器人导航算法研究 培养单位:物流工程学院 学科专业:机械制造及自动化 研究生:韩锐指导教师:李文锋 教授 2006年5月 分类号 密级UDC 学校代码

10497 学位论文 中文题目:未知环境下基于SLAM的移动机器人导航算法研究 英文题目: A Research to the SLAM-based Navigation Algorithm for Mobile Robots in Unknown Environments 研究生姓名:韩锐指导教师:姓名 李文锋 职称 教授 学位 博士 单位名称 物流工程学院 邮编

430063 申请学位级别 硕士学科专业名称 机械制造及自动化 论文提交日期 2006.

4 论文答辩日期 2006.5 学位授予单位 武汉理工大学 学位授予日期 答辩委员会主席 评阅人 2006年5月摘要智能移动机器人是一种在复杂的环境下工作的具有自规划、自组织、自适应能力的机器人.导航算法的研究是智能机器人研究领域的一个热点话题.智能导航的目的就是在没有人干预下使机器人有目的地移动并完成特定任务,进行特定操作.本文旨在结合国家自然科学基金和湖北省青年杰出人才基金项目的需求,研究移动机器人同时定位与制图(Simultaneous Localization and Mapping,SLAM)问题,并在此基础上,研究机器人导航算法,使得机器人在完全未知结构化环境中实现 完全自主 . 文章首先回顾了导航技术的发展,对导航技术中的核心问题:定位与制图进行了详细分析,指出了机器人定位与制图研究中存在的问题,包括制图复杂度、数据匹配难度以及定位制图关联度等;

在此基础上引出了本研究的重点:移动机器人同时定位与制图(SLAM)算法,并对其算法构架、属性、以及分类等相关内容进行了介绍.针对基于点特征的同时定位与制图算法中存在的计算复杂度与信息丰富度之间的矛盾,本文提出了一种基于线特征的同时定位与制图算法.文章对基于线特征的SLAM算法进行了详细的阐述,给出了包括机器人运动模型、观测模型的建立、数据匹配、状态更新、地图建立、地图管理等方面的相关公式;

并通过仿真实验证实了本算法的正确性与可靠性. 针对导航算法中对路径规划的要求,本研究中着重考虑了机器人的局部规划即:避障;

并对避障算法VFH/VFH+进行了剖析.根据VFH/VFH+算法与SLAM算法的特点,将二者相结合,形成了一种新的机器人导航算法.该导航算法较基于VFH/VFH+的导航算法而言,使用范围更广,导航效果更佳. 关键词:导航,同时定位与制图,VFH/VFH+ Abstract Intelligent robots are a kind of robots that are able to work in complex environments with the capacities of self-organizing and self-planning. Navigation problem is a hot issue concerned in researching on such kind of robots. Its aim is to move purposely and do the job without aids. With supports of the project of National Natural Science Foundation of China and the project of Excellent Youth Fund in Hubei province, this paper aims to develop a new algorithm for navigating based on the Simultaneous Localization and Mapping (SLAM) algorithm to make the robots totally autonomous in the unknown but structured environments. The navigation techniques are firstly reviewed in this paper and then the Simultaneous Localization and Mapping (SLAM) problem is introduced, based on the analysis of the localization problem and the map building problem which are two key points in the navigation techniques, including its structure, characteristics, categories and so on. As there is a conflict between the requirements of computational complexity and information-richness within the point-feature based SLAM algorithm, a line-feature based SLAM algorithm is well presented in this paper. All operations required for building and maintaining this map,such as model-setting, data association, and state-updating are described and formulated. This approach has been programmed and successfully tested in the simulation work To meet the need of path planning in navigation, here we mainly concern the local planning, that is, obstacle avoiding. We introduce the VFH/VFH+, an algorithm for obstacle avoidance, in detail in the paper. What is more, in our work, we combine VFH+ and SLAM together to develop a new way for navigation, which has more applications and behaves better than the one based merely on VFH+ does. Key words: navigation, SLAM, VFH/VFH+ 目录第1章绪论11.1课题研究的目的与意义