基于超声波测距的自主移动机器人路径的规划设计.doc

PAGE 基于超声波测距的自主移动机器人路径规划摘要随着机器人技术的不断发展，自主移动机器人正越来越成为研究的热点。导航技术是其研究核心，而路径规划又是移动机器人导航中最重要的任务之一。基于超声波测距的自主移动机器人路径规划是移动机器人技术中的一项重要研究课题。本文对基于超声波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。对自主移动机器人的发展状况，以及移动机器人导航技术和路径规划技术的国内外发展现状进行了综述。然后介绍了超声波测距原理，讨论了超声波测距系统应用于导航技术的优势。重点探讨了基于超声波测距的自主移动机器人路径规划技术，采用栅格法进行环境建模，运用了一种称作沿边走的算法进行了路径规划。最后分析了现有方案的优缺点，展望了机器人路径规划技术的未来发展趋势和研究方向。关键字：自主移动机器人；超声波；路径规划 THE PATH PLANNING OF AUTONOMOUS MOBILE ROBOT BASED ON ULTRASONIC RANGINGABSTRACTWith the continuous development of the robot technology， the autonomous mobile robot technology is becoming the hot. Among which，the navigation technique is the core question，at the same time，the path planning is the most important task of the autonomous mobile robot navigation technology.It is an important research of the mobile robot technology that the path planning of autonomous mobile robot based on ultrasonic ranging.The present development situation of the autonomous mobile robot and the navigation technology of the mobile robot and path planning technology in the domestic and foreign are introduced in the thesis.It has introduced the ultrasonic ranging principle and discusses the superiority of ultrasonic ranging system to apply in the navigation. It has discussed the question with emphasis that the path planning of autonomous mobile robot based on ultrasonic ranging. In this thesis，a method called grid is used to carry on the environment model， and a kind of algorithm called along wall is used to plan the path. Finally it has analyzed the advantage and shortcoming of existing planning method，and forecasted the future development tendency and the research direction of the robot path planning technology.Key words: autonomous mobile robot ; ultrasonic; path planning 目 录第一章 绪论51.1 论文背景和意义51.2 国内外研究现状61.2.1 自主移动机器人导航技术现状61.2.2 自主移动机器人路径规划技术现状71.3 本论文的主要内容9第二章 超声波测距技术102.1 移动机器人中的测距技术102.1.1 无源测距技术102.1.2 有源测距技术102.2 测距传感器的选择性分析122.3 超声波测距132.3.1 超声波发生器132.3.2 压电式超声波发生器原理142.3.3 超声波测距原理142.4 本章小结15第三章 环境建模163.1 栅格法简介1