国贸(论文).doc

编号: 审定成绩: 毕业设计(论文) 课题移动机器人的环境勘测与绘图二○一四年五月专业年级机械工程及自动化学号 3120120033 姓名吴来斌指导教师郭老师评阅人摘要移动机器人的环境勘测与绘图移动机器人环境勘测与绘图是机器人研究领域的一个热点问题。超声传感器和红外传感器在移动机器人中的应用大大提高了机器人探测环境的能力。利用传感器采集到的大量数据可以进行环境地图的创建。本文主要研究在上位机中如何处理观测数据的问题。本文介绍的环境勘测主要是采用 1 个超声波传感器和 6 个红外传感器协同工作,超声波传感器的数据用来进行地图创建,红外传感器主要辅助机器人进行有效的避障。采用了 NI公司的 Lab Windows/CVI 虚拟仪器软件建立环境地图,并进行数据处理。由于超声传感器本身存在测距误差、散射角度大、镜像点多等问题,因此在数据处理时, 通过 C语言算法对数据点进行有效控制,去除大量不确定数据。在直线走廊、L形墙角、U形环境等实验条件下进行了数据采集与数据处理测试。取得了比较好的效果,对环境仿真程度比较逼真。【关键词】移动机器人环境勘测地图创建 Lab Windows/CVI ENVIRONMENT EXPLORATION AND MAP BUILDING BY MOBILE ROBOT Abstract Environment exploration and map building by mobile robot isahot issue in the robot research field. Ultrasonic sensor and infrared sensor are used by mobile robot and they increase robot ’s ability of environment exploration. Using a lotof data gathered by sensors, we can build the environment map. This paper research how to deal with the observation data in the PC. In this paper , single ultrasonic sensor cooperated with 6 infrared sensors to explore the environment. The data by ultrasonic sensor is used for map building, and infrared sensors is help robot to avoid obstacles effectively. U sing pany ’s virtual instrument software Lab Windows/CVI to build the environment map and treat with the data. The ultrasonic sensor has some problems, such as measuring error, big dispersion angle, mirror image. so in the data process, we control the data point byC arithmetic and delete lots of uncertainty data. In the experiments of beeline aisle, encoignure ofL shape, U form, we collect environment data and do the test of data treatment. F orm these experiments, we achieve the purpose. 【 Key words 】 mobile robot environment exploration map building Labwindows/CVI 河海大学本科毕业设计(论文) -1- 目录第一章前言................................................................................................................ 1 课题背景与意义........................................................................................... 1 代表性的研究工作..........