【智能制造】中文室内巡视机器人设计和仿真实
现英文I
室内巡视机器人设计和仿真实现
本科毕业设计（论文）
题目：（中文）室内巡视机器人设计和仿真实现
（英文）Indoor patrol robot design simulation
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我谨在此承诺：本人所写的毕业论文《室内巡视机器人设计和仿真实现》均系本人独立完成，没有抄袭行为，凡涉及其他作者的观点和材料，均作了注释，若有不实，后果由本人承担。
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室内巡视机器人设计和仿真实现
室内巡视机器人设计和仿真实现
【摘要】巡视机器人是一个集环境感知、路线规划、动态决策、行为控制等功能集于一体的综合系统，采用巡视机器人进行定点监控巡视或不间断自动巡视将是目前一种可行的解决方案。将机器人用于巡视工作，具有广阔的应用前景。本文以自主移动机器人为平台，主要任务和目标是在Robotic Studio仿真系统中建立差分驱动轮式移动机器人进行巡视仿真环境，通过获取激光数据和摄像头数据来完成路径规划，避障和实时监控，设计手动控制界面来手动控制机器人进行巡视。
【关键词】移动机器人；路径规划；避障；巡视；仿真；
【Abstract】With the constantly expanding the size and number of social and economic
development, supermarkets, airports, railway stations, exhibition centers and logistics warehouses and other large-scale flow of passengers and places, large and medium-sized cities of high-level, high-end commercial buildings, an increasing number, the automation needs of the increasingly urgent. The patrol robot is a set of environmental perception, route planning, dynamic decision-making, behavior control functions into one integrated system, patrol robot sentinel surveillance visits or continuous automatic inspection will be a viable solution. The robot for the inspection work has broad application prospects. In this paper, the autonomous mobile robot platform, the main task and goal differential drive wheeled mobile robots in the Robotic Studio simulation system to conduct an inspection of the simulation environment, by acquiring laser data and camera data path planning, obstacle avoidance and real-time monitoring design manual control interface to manually control the robot to conduct an inspection.
【Key words】Mobile Robot；Path Planning ；Obstacle Avoidance；Inspections；Simulation；
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目录
1
绪论 ............................................................................................................................... 1 1.1 1.2
引言 ................................................................................................................................................1 移动机器人的研究内容及发展趋势 ..........................................................................................1
移动机器人的国内外研究现状 ..........................................................................................1 移动机器人的发展趋势 ......................................................................................................2 1.2.1 1.2.2 1.3 2
论文的主要内容 ...........................................................................................................................2
室内巡视机器人设计的总体方案 ..................................................................................... 3 2.1 2.2
研究任务 ........................................................................................................................................3 仿真机器人的组成 .......................................................................................................................3
2.2.1 激光传感器 ...............................................................................................................................3 2.2.2 摄像头 ........................................................................................................................................3 2.2.3 差分驱动轮 ...............................................................................................................................4 2.3
室内巡视机器人的开发环境.......................................................................................................5
2.3.1 仿真环境MICROSOFT ROBOTICS DEVELOPER STUDIO 2008 R3 ........................................5
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