Dissertation > Excellent graduate degree dissertation topics show

3D Environment Modeling and Autonomous Motion Planning for Mobile Robot

Author: ChenHang
Tutor: WangWei
School: Dalian University of Technology
Course: Control Theory and Control Engineering
Keywords: Unstructured environments 3D Laser Ranging 3D Environment Modeling Terrain Evaluation Autonomous motion planning
CLC: TP242
Type: Master's thesis
Year: 2009
Downloads: 213
Quote: 1
Read: Download Dissertation

Abstract


The effective recognition of the mobile robot autonomous navigation and environmental exploration, and the perception of environmental information and build environment models to ensure safe and reasonable mobile robot motion planning. Motion planning of environmental modeling and remodeling, and on this basis, the three-dimensional unstructured scene compared with structured scenes, there are the ruins of the complex terrain and dynamic obstacles complex environmental information put forward higher requirements. The focus of this research for modeling of three-dimensional unstructured environment with autonomous motion planning, through these two aspects of the research aimed to establish a set of real-time modeling for 3D unstructured environment and remodeling, and as a basis for real-time planning and decision-making functions of the mobile robot intelligent control system. Laser point cloud data acquired by 3D ranging system, a variety of ways to achieve a three-dimensional scene modeling, including linear feature extraction, flat-screen feature extraction and building elevation model-based three-dimensional map. In the plane feature extraction, using two different methods for different applications, the plane split. Regional expansion for plane segmentation algorithm, using the normal vector to generate plane correction, effectively overcome the regional expansion of smooth gradient problem. Build a model of the environment on the basis of two autonomous motion planning method: autonomous motion planning method based on geometry - elevation models and terrain assessment based independent motion planning method. Former use of an integrated elevation model and plane model geometry - elevation model to describe the the unstructured scene and build a three-dimensional random road map, after using Dijkstra algorithm search a to meet security shortest path. This approach overcomes the elevation model plane feature model respective environmental information is incomplete shortcomings, and enhance the environmental effectiveness of the model and path planning rationality. Latter horizontal grid discretization of the whole scene, and to assess the terrain between raster and grid point cloud height distribution, according to the robot through the whole scene is subdivided into multiple feasible region. The basis for the assessment of the scene, a autonomous motion planning methods and adapt to different levels of planning to meet a variety of constraints, and enhance the adaptability and robustness of robot motion planning. The experimental results demonstrate the effectiveness and practicality of the two methods.

Related Dissertations

  1. SURF feature based on monocular vision SLAM Research and Implementation,TP242
  2. Research on Feature Extraction and Matching for Underwater Unstructured Environment,TP391.41
  3. Research of the Machine of Mobile Robot in Unstructured Environment Based on Adjustment of the Body Attitude,TP242
  4. The Research of a Smart Mobile Platform Based on Spatial Four-bar Mechanism,TH112
  5. Research on Image Interpretation Algorithms for Unstructured Scene,TP391.41
  6. Research on Short Distance Motion Planning of On-orbit Autonomous Servicing Spacecraft,V476.5
  7. Research on Motion Stability of an Articulated Vehicle in Unstructured Terrain,U461.6
  8. Research on Visual Technologies of Autonomous Navigation System in Non-structure Environment,TP391.41
  9. Research on Image Matching and Object Location Based on Multi-Scale Feature,TP391.41
  10. Development of Experimental Robot Control System Based on ARM,TP242.6
  11. Research on Visual Detection and Tracking of Mobile Robots,TP242.62
  12. Research of Visual Servoing in 4-DOF Robotic Manipulator,TP242.6
  13. Research on Visual Servo System of Mechanical ARM,TP242.6
  14. Modeling Analysis and Slip Estimation for Lunar Rovers,TP242
  15. Design and Realize of Family Cleaning Robot Path-Coverage System,TP242
  16. Study on Image Registration and Image Matching of the Robot System for Substation Equipment Inspection,TP242.62
  17. Improvement of Ant Colony Algorithmand Its Application in Robot Path Planning,TP242
  18. Humanoid Robot Soccer System Based on Global Vision System,TP242.6
  19. Research on Multi-Robot Cooperative Pursuit Problem,TP242
  20. Reaserch on Dynamics for Fast Walking of Biped Robot,TP242.6
  21. The Research on a New Modular Self-Reconfigurable Robot,TP242.2

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