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ID:32284432
大小:2.06 MB
页数:70页
时间:2019-02-02
《移动机器人的全区域覆盖算法的研究》由会员上传分享,免费在线阅读,更多相关内容在学术论文-天天文库。
1、ABSTRACrThisdissertationwassupportedinpartbytheNationalNamrflScienceFoundationofChinaunderGIant60234030andinpartbytheNationalBasicScienti矗cResearchFoundsanderGrantA1420060159.Asapartoftheabove—mentionedprojects,thisdissertationpresentscompletecoveragealgorit
2、hmsforsinglerobotandmulti—robotsunderunknownstaticareasrespectively.Thealgorithmsenablemobilerobotstotraversetheirsurroundingreliablyande伍ciently,andenabletherobotstoaccomplishtheifrelevantmissions.Accordingtothetargets,thefollowingresearchesarecarriedout:(1
3、)Weproposeanewcompletecoveragealgorithm-improvedAcaralgorithm.weobtainthewalkmgdirectionofthemobilerobotaccordingtothechangesinitspositionandwecandetectthecriticalpointsoftheobstaclesonthebasisofthechangesofitsdirectionwhenitwalksalongtheborderoftheobstacle.
4、So,ourmethodoutpefformstheAcaralgorithm,whichneedsomni.directionalsensorsandCanonlydealwithobstacleswithsmoothboundaryandtheslicecan’tparalleltotheborderoftheobstacle.(2)neexperimentsonMORCS一1,whichismadebytheIntelligentControlResearchInstitutea锄iatedwithCen
5、tralSouthUniversity,validatethefeasibilityandcolTectnessofthealgorithm.Theexperimentalresultsarealsoanalyzedindetail.(3)Toovercomethelimitsledbythecompletecoveragecardedoutbyasinglerobot,weproposeacompletealgorithmformulti-robots.Thealgorithmisbasedonthealgo
6、rithmofRekleitisIandwasintegratedwiththenewcompletecoveragealgorithm—improvedAcaralgorithm.Boththewalkingdirectionchangesofthetwoexploratoryrobotsandthediscontinuityoftheinterruptionoftheline.of-sightbetweenthemareusedtodetectthecriticalpointsoftheobstacles.
7、Wedesignthewalkingrulefortwoexploratoryrobotstokeepline—of-sightwhenwalkingalongtheborder.Wealsodesigntheruletorecoverline。of-sightofthetwoexploratoryrobotswhenthevisibilityisbrokenandtheruletoensurethecircularcoverageoftheneighboringareasoftheobstacles.thea
8、lgorithmIlcanapplytobothfastenvironmentalexplorationandefficientcompletecoverage.(4)Ourcompletecoveragealgorithmsforasinglerobotandmulti—robotsdon’ttakereebgraphtodenotetheconnectionrelationship
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