目录
摘要…………………………………………………………………………………………Ⅰ
Abstract……………………………………………………………………………………Ⅲ
第1章绪论…………………………………………………………………………………1
1.1课题的背景和意义…………………………………………………………………1
1.2自主导航综述………………………………………………………………………2
1.2.1导航的概念……………………………………………………………………2
1.2.2导航的分类……………………………………………………………………2
1.2.3已知环境下的自主导航技术………………………………………………3
1.2.4未知环境下的自主导航技术………………………………………………8
1.3地图创建……………………………………………………………………………12
1.3.1几种常用的环境表示方法…………………………………………………12
1.3.2快速同时定位与地图生成(fastSLAM)……………………………………14
1.3.3基于视觉的同时定位与地图生成(vSLAM)……………………………16
1.3.4基于拓扑地图的同时定位与地图生成…………………………………18
1.4基于多机器人协作的路径探索综述…………………………………………19
1.4.1协作探索的定义………………………………………………………………19
1.4.2协作探索的国内外研究现状………………………………………………20
1.4.3协作探索中的关键问题……………………………………………………21
1.5本文的主要研究内容……………………………………………………………23
第2章基于速度空间寻优的局部避障方法………………………………………25
2.1引言…………………………………………………………………………………25
2.2速度空间寻优方法………………………………………………………………27
2.2.1曲率-速率法(CVM)…………………………………………………………27
2.2.2巷道-曲率法(LCM)…………………………………………………………28
2.2.3扇区-曲率法(BCM)…………………………………………………………29
2.3从笛卡儿空间到构型空间的转换……………………………………………30
2.4基于扇区分类的BCM改进……………………………………………………33
2.4.1扇区的形成与分类……………………………………………………………33
2.4.2最优扇区的选择………………………………………………………………34
-V-哈尔滨工业大学工学博士学位论文
2.5碰撞检测方法………………………………………………………………………36
2.5.1碰撞预测模型…………………………………………………………………36
2.5.2扩展卡尔曼滤波与速度估计………………………………………………37
2.5.3轨迹预测和碰撞检测方法…………………………………………………39
2.6基于BCM的局部避障实验结果及其分析…………………………………41
2.7本章小结……………………………………………………………………………43
第3章基于拓扑地图的单机器人路径探索………………………………………45
3.1引言…………………………………………………………………………………45
3.2拓扑地图的必要性……………………………………………………………45
3.2.1拓扑地图与逻辑定位…………………………………………………45
3.2.2拓扑地图创建需要解决的关键技术…………………………………47
3.3基于BCM的实时拓扑地图创建方法…………………………………………48
3.3.1新型拓扑地图的定义………………………………………………………48
3.3.2拓扑节点的检测………………………………………………………………49
3.3.3拓扑节点的定位………………………………………………………………50
3.4比例不变特征变换………………………………………………………………54
3.4.1特征提取………………………………………………………………………55
3.4.2特征匹配………………………………………………………………………57
3.5基于拓扑地图的定位算法………………………………………………………58
3.6拓扑地图与其他地图的性能比较实验………………………………………59
3.6.1导航效率对比实验……………………………………………………………59
3.6.2地图维护与更新性能比较…………………………………………………62
3.6.3 SIFT与实时导航的矛盾……………………………………………………63
3.7本章小结……………………………………………………………………………64
第4章基于拓扑地图的多机器人协作路径探索…………………………………65
4.1引言…………………………………………………………………………………65
4.2基于隐马尔可夫模型的节点定位……………………………………67
4.2.1贝叶斯滤波……………………………………………………………………67
4.2.2隐马尔可夫模型………………………………………………………………68
4.3协作策略的选择……………………………………………………………………70
4.3.1基于HMM的拓扑地图拼接………………………………………………71
4.3.2基于市场法的多任务分配…………………………………………………73
4.4基于扫描匹配的混合地图拼接…………………………………………………75
-VI-目录
4.4.1混合地图………………………………………………………………………76
4.4.2基于fastSLAM的栅格地图生成…………………………………………77
4.4.3基于足迹匹配的混合地图拼接……………………………………………81
4.5基于拓扑地图的多机器人协作探索实验……………………………………83
4.5.1地图拼接实验…………………………………………………………………83
4.5.2基于市场法的协作探索实验………………………………………………85
4.6本章小结……………………………………………………………………………88
第5章利用移动感知网提高路径探索效率………………………………………89
5.1引言…………………………………………………………………………………89
5.2移动感知网体系结构……………………………………………………………90
5.2.1总体结构………………………………………………………………………90
5.2.2传感器系统……………………………………………………………………91
5.3无线感知网的节点定位方法……………………………………………………92
5.3.1蒙特卡罗定位………………………………………………………………94
5.3.2基于MCL的节点定位……………………………………………………95
5.3.3基于混合蒙特卡罗Box的节点定位……………………………………96
5.3.4节点定位对比实验…………………………………………………………98
5.4基于移动感知网的多机器人协作路径探索………………………………100
5.4.1利用机器人部署无线感知网节点………………………………………100
5.4.2利用无线感知网减轻无线通讯负担……………………………………101
5.5多机器人协作路径探索实验系统……………………………………………102
5.5.1硬件系统………………………………………………………………………102
5.5.2软件系统………………………………………………………………………103
5.6本章小结…………………………………………………………………………105
结论…………………………………………………………………………………………106
参考文献……………………………………………………………………………………108
攻读博士学位期间所发表的学术论文………………………………………………120
哈尔滨工业大学博士学位论文原创性声明…………………………………………121
哈尔滨工业大学博士学位论文使用授权书…………………………………………121
致谢…………………………………………………………………………………………122
个人简历……………………………………………………………………………………123
-VII-哈尔滨工业大学工学博士学位论文
Contents
Abstract(In Chinese)………………………………………………………………………Ⅰ
Abstract(In English)………………………………………………………………………Ⅲ
Chapter 1 Introduction…………………………………………………………………1
1.1 The Background and Significance of the Research Work……………………1
1.2 Overview of Autonomous Navigation……………………………………………2
1.2.1 Defination of Navigation………………………………………………………2
1.2.2 Classification of Navigation…………………………………………………2
1.2.3 Autonomous Navigation Techniques in Known Environments…………3
1.2.4 Autonomous Navigation Techniques in Unknown Environments………8
1.3 Map Building………………………………………………………………………12
1.3.1 Several Existing Environment Representations…………………………12
1.3.2 Fast Simultaneous Localization and Mapping(fastSLAM)……………14
1.3.3 Vision-based Simultaneous Localization and Mapping(vSLAM)……16
1.3.4 Topological Map-based Simultaneous Localization and Mapping……18
1.4 Overview of Cooperative Path Exploration by Multi-robots………………19
1.4.1 Defination of Cooperative Exploration……………………………………19
1.4.2 State-of-the-art of Cooperative Exploration………………………………20
1.4.3 Critical Problems in Cooperative Exploration……………………………21
1.5 Main Work of Dissatation…………………………………………………………23
Chapter 2 Local Obstacle Avoidance based on Velocity Space Method………25
2.1 Introduction…………………………………………………………………………25
2.2 Velocity Space Method……………………………………………………………27
2.2.1 Curvature Velocity Method(CVM)…………………………………………27
2.2.2 Lane Curvature Method(LCM)……………………………………………28
2.2.3 Beam Curvature Method(BCM)……………………………………………29
2.3 Conversion from Cartesian Space to Configuration Space…………………30
2.4 Improvements on BCM based on Beam Classification………………………33
2.4.1 Formation and Classification of the Beams………………………………33
2.4.2 Selection of the Best Beam…………………………………………………34
-VIII-Contents
2.5 The Prediction Method of Collision……………………………………………36
2.5.1 The Prediction Model of Collision…………………………………………36
2.5.2 Extended Kalman Filter and Velocity Estimation………………………37
2.5.3 Trajectory Prediction and Collision Detection Method…………………39
2.6 The Experimental Result and Analysis of Local Obstacle Avoidance based on
BCM……………………………………………………………………………………41
2.7 Summary……………………………………………………………………………43
Chapter 3 Topological Map-based Path Exploration by Single robot………45
3.1 Introduction…………………………………………………………………………45
3.2 Necessity of Topological Map……………………………………………………45
3.2.1 Topological Map and Logic Localization…………………………………45
3.2.2 Critical Techniques to be Resolved in Topological Map Construction 47
3.3 The Method of Realtime Topological Map Building based on BCM………48
3.3.1 The Defination of the Novel Topological Map……………………………48
3.3.2 Detection of the Topological Node…………………………………………49
3.3.3 Localization of the Topological Node………………………………………50
3.4 Scale-invariant Feature Transform………………………………………………54
3.4.1 Feature Extraction……………………………………………………………55
3.4.2 Feature Matching………………………………………………………………57
3.5 Localization based on Topological Map………………………………………58
3.6 Comparative Experiments of the Map Performance between the Topological
Map and other Map Representations………………………………………………59
3.6.1 Comparative Experiments on Navigation Efficiency……………………59
3.6.2 Performance Comparison of Map Maintenance and Update……………62
3.6.3 Contradiction between SIFT and Realtime Navigation…………………63
3.7 Summary……………………………………………………………………………64
Chapter 4 Cooperative Path Exploration based on Topological Map by Multi-
robot………………………………………………………………………………………65
4.1 Introduction…………………………………………………………………………65
4.2 Node Localization based on Hidden Markov Model(HMM)………………67
4.2.1 Bayes Filter……………………………………………………………………67
4.2.2 Hidden Markov Model………………………………………………………68
4.3 Selection of Coordination Strategy………………………………………………70
-IX-哈尔滨工业大学工学博士学位论文
4.3.1 Topological Map Merging based on HMM………………………………71
4.3.2 Multi-task Allocation based on Market Economy………………………73
4.4 Hybrid Map Merging based on Scan Matching………………………………75
4.4.1 Hybrid Map……………………………………………………………………76
4.4.2 Grid Map Building based on fastSLAM…………………………………77
4.4.3 Hybrid Map Merging based on Footprint Matching……………………81
4.5 Topological Map-based Experiment of Cooperative Path Exploration by
Multi-robot………………………………………………………………………………83
4.5.1 The Experiment of Map Merging…………………………………………83
4.5.2 The Experiment of Cooperative Exploration based on Market
Economy……………………………………………………………………………85
4.6 Summary……………………………………………………………………………88
Chapter 5 Improve the Efficiency of Path Exploration by Mobile Sensor
Networks…………………………………………………………………………………89
5.1 Introduction…………………………………………………………………………89
5.2 Achitecture of Mobile Sensor Networks(MSN)………………………………90
5.2.1 Gross Structure…………………………………………………………………90
5.2.2 Sensor System…………………………………………………………………91
5.3 Node Localization of MSN………………………………………………………92
5.3.1 Monte Carlo Localization……………………………………………………94
5.3.2 Node Localization based on MCL…………………………………………95
5.3.3 Node Localization based on Mixture Monte Carlo Box…………………96
5.3.4 Comparative Experiments of Node Localization…………………………98
5.4 Cooperative Path Exploration by Multi-robot based on MSN……………100
5.4.1 Use Robots to Deploy the Node of MSN…………………………………100
5.4.2 Use MSN to Reduce the Burden of Wireless Communication………101
5.5 The System of Cooperative Path Exploration by Multi-robot…………102
5.5.1 Hardware System……………………………………………………………102
5.5.2 Software System……………………………………………………………103
5.6 Summary……………………………………………………………………………105
Conclusion…………………………………………………………………………………106
References…………………………………………………………………………………108
Papers published in the period of Ph.D.education……………………………120
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Statement of copyright…………………………………………………………………121
Letter of authorization…………………………………………………………………121
Acknowledgment…………………………………………………………………………122
Resume………………………………………………………………………………………123
