自主避障机器人的设计.pdfVIP

本科毕业论文(设计) UNDERGRADUATE THESIS 题 目： 自主避障机器人的设计 摘 要 当人工智能机器人在各大服务行业等环境中的使用日益增加，人们对能根据地理环 境合理移动的机器人需求更加需要，所以避障逐渐成为一个极其关键且必须的基本功能。 本课题基于室内作为避障环境，应用传感器和功能部件设计并实现了一个自主避障智能 机器人，同时结合路径规划算法，使机器人具有自主避障和导航的功能。基于LINUX 操 作系统和ROS 系统，课题运用SLAM 技术完成建图，使用迪杰斯特拉算法和DWA 算法 加上避障算法对机器人进行路径规划实现自主避障。至此获得了一条基于实际情况的可 行路径。此外，本课题对比了两种不同传感器的避障效果，总结了两类传感器的优缺点。 关键词：自主避障；机器人；人工智能；路径规划 i ABSTRACT With the increasing use of artificial intelligence robots in major service industries and other environments, people need more robots that can move reasonably according to the geographical environment, so obstacle avoidance has gradually become an extremely critical and necessary basic function. Based on the indoor obstacle avoidance environment, an autonomous obstacle avoidance intelligent robot is designed and implemented by using sensors and functional components. At the same time, combined with the path planning algorithm, the robot has the functions of autonomous obstacle avoidance and navigation. Based on Linux operating system and ROS system, the subject uses slam technology to complete the drawing, and uses Dijkstra algorithm, DWA algorithm and obstacle avoidance algorithm to plan the path of the robot to realize autonomous obstacle avoidance. So far, a feasible path based on the actual situation is obtained. In addition, this paper compares the obstacle avoidance effects of two different sensors, and summarizes the advantages and disadvantages of the two types of sensors. Key words ：Autonomous Obstacle Avoidance; Robot; Artificial Intelligence; Path Planning ii 目 录 1 绪论 4 1.1 课题研究意义4 1.2 自主避障机器人的研究与应用4 1