摘要机器人导航技术是机器人研究的核心技术，也是其实现真正的智能化和完全的自主移动的关键技术。移动机器人导航要求移动机器人通过传感器在未知的环境中实现自主运动，因此避障和定位是导航研究的两个基本问题。在移动机器人导航控制理论与方法研究中，确定性环境的导航控制方法已取得很好的成果。与在已知环境中相比，机器人在环境完全未知且有动态障碍物的情况下需要实时探测障碍物且给出控制策略，使得导航更加困难。本文主要研究采用红外接近传感器与红外测距传感器实现全向移动机器人在未知环境中的避障策略。51261

本文设计的全向移动机器人，运用创意之星构件搭建；用四个全向轮来实现机器人全向移动；以四个CDS5516机器人舵机驱动；用红外接近传感器与红外测距传感器进行障碍物检测；采用MultiFLEX™2-PXA270控制器作为控制和处理机，并用North STAR图形化软件和C语言分别进行编程。

通过对所设计机器人的实验操作，成功实现全向移动机器人的避障功能。

毕业论文关键字：移动机器人；导航；红外传感器；避障

 Abstract Robot navigation is the key technology of the robot research and the realization of its intelligent and autonomous mobile. Navigation of a mobile robot is that the mobile robot can realize the autonomous motion in unknown environment through the sensors. Therefore, obstacle avoidance and location are the two basic problems of navigation. In the navigation control theory and method research of a mobile robot, the navigation control methods in certain environments has achieved many accomplishments. With comparison of the certain environment, the navigation becomes more difficult with unknown environments and some dynamic obstacles. The thesis mainly studies avoidance strategies by infrared proximity sensors and infrared distance sensors, which accomplish omni-directional movement in unknown environments.

The omni-directional mobile robot used in the thesis is constructed with components of the “Inno-STAR”. The mobile robot can move omni-directionally by four wheels. Four “CDS5516” robot servos are used to drive the omni-directional wheels. Infrared proximity sensors and infrared distance sensors are employed to detect obstacles. MultiFLEX ™ 2-270 controller is used as controller and processor Program is written with “North STAR” graphical software and C Language, respectively. 

Experimental results indicate the mobile robot can move omni-directionally and freely in unknown environments with uncertain obstacles.

Keyword: Mobile Robot; Navigation; Infrared sensor; Obstacle avoidvance

目  录

第一章  绪论 1

1.1 研究背景 1

1.2 国内外全向移动机器人的研究现状 2

1.2.1国外研究现状 2

1.2.2国内移动机器人的研究现状 4

1.3 移动机器人避障策略的研究现状 5

1.4 论文主要研究内容 6

第二章 全向移动机器人的设计 7

2.1 引言 7

2.2 机器人本体的设计 7

2.2.1 全向底盘的搭建 7

2.2.2 全向轮的设计 8

2.3 底盘及全向轮的布置 9

2.3 传感器模块 11

2.3.1红外接近传感器的原理及选型