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本科毕业论文
题 目： 机器人路径规划演示平台
设计
院 （部）： 信息与电气工程学院 专 业： 班 级： 学生姓名： 学生学号： 指导教师：
完成日期： 2013年6月14日
山东建筑大学毕业论文
目 录
摘 要 .............................................................................................................................................. III ABSTRACT ................................................................................................................................... IV 1 绪 论 ..................................................................................................................................... - 1 -
1.1 机器人路径规划演示平台设计的产生及背景 ........................................................... - 1 - 1.2 选题背景和意义 ........................................................................................................... - 2 - 1.3 机器人路径规划演示平台设计的研究现状 ............................................................... - 2 - 1.4 课题应用与前景 ........................................................................................................... - 4 - 2 机器人路径规划演示平台设计的理论基础 ......................................................................... - 6 -
2.1 机器人路径规划问题的表达、分类和特点 ............................................................... - 6 - 2.2 机器人路径规划理论 ................................................................................................... - 7 - 2.3 栅格法 ........................................................................................................................... - 8 -
2.3.1 栅格法简介 ......................................................................................................... - 8 - 2.3.2 栅格法算法原理简介 ......................................................................................... - 9 - 2.3.3 路径选择概率 ....................................................................................................- 11 - 2.3.4 栅格法优缺点分析 ............................................................................................- 11 - 2.4 人工势场法 ..................................................................................................................- 11 -
2.4.1 人工势场法原理 ................................................................................................- 11 - 2.4.2 势函数的确定 ................................................................................................... - 13 - 2.4.3 人工势场法的优缺点分析 ............................................................................... - 14 - 2.5 人工神经网络算法 ..................................................................................................... - 15 -
2.5.1 人工神经网络算法概念 ................................................................................... - 15 - 2.5.2 人工神经网络算法理论基础 ........................................................................... - 16 - 2.6 蚁群算法 ..................................................................................................................... - 18 -
2.6.1 蚁群算法概述 ................................................................................................... - 18 - 2.6.2 蚁群算法理论基础 ........................................................................................... - 18 - 2.7 本章小结 ..................................................................................................................... - 20 - 3 机器人路径规划演示平台设计系统的VC++实现 .............................................................. - 21 -
3.1 软件介绍 ..................................................................................................................... - 21 -
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山东建筑大学毕业论文
3.1.1 VC简介 ............................................................................................................. - 21 - 3.1.2 VC安装使用 ..................................................................................................... - 21 - 3.1.3 VC功能优势 ..................................................................................................... - 21 - 3.2 机器人路径规划演示平台系统的总体设计 ............................................................. - 22 -
3.2.1 设计名称 ........................................................................................................... - 22 - 3.2.2 设计说明 ........................................................................................................... - 22 - 3.2.3 设计目的 ........................................................................................................... - 22 - 3.2.4 设计内容 ........................................................................................................... - 22 - 3.3 算法论述 ..................................................................................................................... - 23 -
3.3.1界面的设计运行 ................................................................................................ - 23 - 3.3.2 机器人路径规划的VC++实现 ........................................................................ - 31 - 3.3.3 程序仿真结果 ................................................................................................... - 40 - 3.4 小结 ............................................................................................................................. - 41 - 4 结 论 ................................................................................................................................... - 42 - 致 谢 ....................................................................................................................................... - 43 - 参考文献 ................................................................................................................................... - 44 -
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山东建筑大学毕业论文
摘 要
机器人路径规划就是在具有障碍物的环境中，按照一定的评价标准，寻找一条从起始状态到达目标状态的无碰路径。因此在一些危险或人类不能直接到达的探测领域，路径规划可以帮助机器人在复杂地形中行进时自动避障，安全准确的到达目的位置。
本文介绍了基于VC++实现机器人路径规划仿真平台的设计和基于栅格算法的机器人路径规划方法。栅格法是在粗略划分整个工作环境的情况下，采取概率搜索的办法，先获得一条次优的最短路径，然后在此基础上，将不完全可行栅格回归原工作环境，最终获得一条最短的无碰撞路径。仿真结果显示移动机器人完全可以安全的到达目的地，并且可以寻找到一条平滑的路径轨迹。经过第二步的处理，精度越小搜索到的路径会更加平滑，实验表明基于栅格法的路径规划算法有效并易于实现。
关键词： VC++仿真平台；栅格法；路径规划
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山东建筑大学毕业论文
The Design of Robot Path Planning Demonstration Platform
ABSTRACT
Robot path planning is to find a collision-free path from the initial state to the target state according to a certain evaluation standard, which is in an environment that possesses an obstacle. The significance of the research is mainly detected in the field that is dangerous and humans cannot reach in directly. Robot path planning can help the robot bring about automatic obstacle avoidance and arrive in the destination safely and accurately in the complex terrain.
This paper introduces that we achieve the design of path planning robot simulation platform and robot path planning which is based on grid algorithm using the VC++. Grid method divided the whole working circumstance roughly, adopting probability search method to obtain a suboptimal shortest path. Then on this basis, grid that is not feasible will return to the original work environment, and finally we get the shortest collision-free path. After processing of the second step, the smaller the accuracy, the smoother the path we can search will be. The simulation results show that the path planning algorithm based on grid method is effective and easy to implement.
KEY WORDS: Simulation Platform；Grid Algorithm；Path Planning
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