可展轮式移动机器人智能控制系统设计及定位算法研究本科毕业设计.docVIP

硕士学位论文 可展轮式移动机器人智能控制系统设计 及定位算法 The design of intelligent control system and research of localization AlgoRithM for AN Out-door Mobile Robot with FoldabLe Wheels 摘 要 室外移动机器人移动机器人领域的一个研究热点，由于室外环境复杂，具有和环境适应能力，周围环境，根据环境的变化做出决策以适应环境的变化。移动机器人主要外太空探测，民用较少，开发一种低成本的室外移动机器人势在必行 本文在移动机器人平台的基础上，了移动机器人控制系统的硬件架构，运动控制卡搭建了控制平台，能够有效的控制移动机器人。了移动机器人的环境感知系统，能够惯性测量单元感知移动机器人的姿态信息和移动机器人的位置信息。 进行了研究，模糊控制相结合，移动机器人的可展轮结构建立了自适应控制模型，能够路面状况根据路面状况的控制轮子的展开和闭合，能够适应路面环境并且保持移动机器人平台质心域一定的范围内移动机器人的稳定性适应能力。 室外自主巡逻必须良好的定位方法，定位是自主导航的基础，本文对移动机器人定位方法进行研究，移动机器人的特点，和相对定位定位方法，定位，相对定位采用航迹推算法，过多传感器信息融合，实现良好的室外定位。 可展轮式移动机器人样机进行了室外实验，包括移动机器人的基本性能实验，自适应展开实验和自主定位实验通过，验证了移动机器人控制算法的可行性，说明移动机器人具有良好的室外适应能力。 关键词卡尔曼滤波； The outdoor mobile robot is a hot research topic in the field of mobile robot nowadays. Due to the complex outdoor environment, the outdoor mobile robot which should have good obstacle ability and environmental adaptability could sense their surroundings fast and make decisions in time according to the information from the perception system to adapt the environment. Today the outdoor mobile robot is mainly used in outer space exploration and military, the civilian application is less, so the development of a low cost of outdoor mobile robot is imperative. In this paper, the hardware stucture for the control system of the outdoor mobile robot with foldable wheels is designed on the basis of the movement control card. The method of the debugging on the mobile robot is the PID control algorithm which could enables the mobile robot’s stable work in outdoor environments. At the same time, the environment perception system of the mobile robot is established, which could get the perception attitude information of the mobile robot through the inertial measurement unit and the location information of mobile robot through the global positioning system. The intelligent control method for mobile robot is studied. The adaptive control model for the foldable wheels of the mobile robot is establi