Dissertation > Excellent graduate degree dissertation topics show

Research of the Mobile Robot Navigation Technology in Dynamic Environment

Author: ZhangLiang
Tutor: ZuoHuaSong
School: Wuhan University of Science and Technology
Course: Computer System Architecture
Keywords: Robot Navigation ROS SLAM Path Planning
CLC: TP242
Type: Master's thesis
Year: 2013
Downloads: 97
Quote: 0
Read: Download Dissertation


The appearance of the robot has changed the mode of production and way of life of humansociety. In recent years, with the development of robot technology, the robot is more widely usedin military and scientific fields. When the robot working in the dangerous enviroment which isinaccessible to human beings, it must have the ability to move completely independent, so thenavigation technology for mobile robot has gradually become the one of the hotspots of robotics.Robot navigation technology in statics environment is relatively mature, and has obtained manyachievements, but the research in the unstructured dynamic environment has not formed theperfect and unified theory of knowledge. Therefore, the research on the navigation in thedynamic environment based on common platform is of great significance.At present, domestic navigation system with independent research and development, whenthe algorithm structure, software, hardware and working environment changes, the system needsto be re-development and the code reuse rate is almost zero. According to the shortcoming, anopen-source robot operating system is used as software platform and a two-wheeled robot as theexperimental robot. This paper studied on two key problems of robot navigation in unknowndynamic environment: the simultaneous localization and mapping problem (SLAM) and the pathplanning problem. A hybrid method based on A*algorithms and genetic algorithms is proposedto solve the optimum path planning for mobile robots and the simulation results show that themethod has good convergence in the grid map. Dynamic obstacle avoidance algorithm usingDWA (Dynamic Window Approach) algorithm, and improve the abnormal situation. Finally,experiments were carried in ROS and the results proved the feasibility of the scheme.

Related Dissertations

  1. Endgame Guidance Law Design and Analysis of Deep Space Impact Exploration,V448.2
  2. Research on Autonomous Navigation Method of Interplanetary Flight,V448.224
  3. The Research of Navigation Multi-Sensor Data Fusion Technology Based on Micro Unmanned Platform,V249.32
  4. Algorithm Research on SINS/GPS Integrated Navigation Syste,V249.328
  5. Polarized-Light/Geomagnetism/GPS/SINS Integrated Navigation Algorithm,V249.328
  6. The Design of a DSP-Based Robot Speech Command Recgnition System,TN912.34
  7. Simulation System of the Vehicle Experiment of the Inertial Platform and Research of Identification Method,TN966
  8. Research on Navigation System Related Technology for Moving Objects under Dynamic Environment,TP301.6
  9. Development of Experimental Robot Control System Based on ARM,TP242.6
  10. Design and Realize of Family Cleaning Robot Path-Coverage System,TP242
  11. Improvement of Ant Colony Algorithmand Its Application in Robot Path Planning,TP242
  12. Humanoid Robot Soccer System Based on Global Vision System,TP242.6
  13. Research on Multi-Robot Cooperative Pursuit Problem,TP242
  14. Reaserch on Dynamics for Fast Walking of Biped Robot,TP242.6
  15. The Research on a New Modular Self-Reconfigurable Robot,TP242.2
  16. Mechanism Design and Kinematic Simulation of a Celiac Invasive Surgical Robot,TP242.3
  17. Key Control Technique of Wafer Handling Robot,TP242.2
  18. Research on How Sports Anime Affect Youth Value of Basketball,G841
  19. Research on the Discipline Navigation Based on the Investigation and Analysis of User’s Demand in Universities of China,G252.6
  20. The Effect of Extreme Temperature on Photosynthetic Physiology, Antioxidant Enzyme Systems and ROS of Fingered Citron,Q945.78
  21. Functional Analysis of ACD5 during Infection of Botrytis Cinerea in Arabidopsis Thaliana,S432.1

CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
© 2012 www.DissertationTopic.Net  Mobile