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面向迎宾机器人组件化系统的建模与控制研究

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标签: 面向迎宾机器人组件化系统的建模与控制研究

作者

张镇

导师

曹其新

作者基本信息

上海交通大学, 机械电子工程, 2011, 博士

摘要

近年来,机器人技巧已经疾速向非产业范畴利用延长,其中迎宾机器人作为服务机器人家族中的一个重要成员,因为其活动空间大,被广泛利用于迎宾、向导、导购、安保等范畴。机器人面向动态非构造环境、供给的服务品种多样,并且须要集成不同的功能组件以实现特定的任务,这使迎宾机器人存在极大的机动性跟不断定性。在国际范畴内,固然研究人员已经开发出多款迎宾机器人样机,但因为缺乏组件化、标准化技巧支撑,使得迎宾机器人体系开发本钱高、设计周期长、扩大性差,难以真正遍及。机器人技巧旁边件(Robot technology middleware,RTM)可能有效屏蔽操作体系、开发语言跟网络协定的差别,为机器人体系开发供给多种通信跟服务机制,是解决迎宾机器人组件化设计、打消机器人体系异构性问题的有效道路之一,目前已成为国际机器人研究的热点范畴。但迎宾机器人在采取RTM履行组件化设计的过程中也呈现了新的问题:(1)在基于RTM的机器人体系中,组件间通过调用契约化的功能接口实现互操作,一旦任务序列断定,供给服务的组件集也随之断定,对非构造环境中的功课的迎宾机器人来说,缺乏动态协同管理组件的才能;(2)体系内部各个组件的行动活动存在异步、并发等特点,跟着体系内部组件的数量始终增多,和谐把持全部组件坚固的实现工作将变得越来越复杂,须要采取情势化建模的方法对机器人体系进行描述,通过正确的数学模型描述体系内部组件的行动关联,分析猜测体系在运行过程中的各种情况,保障迎宾机器人组件化体系(Guide Robot Component System)的牢固运行。本论文针对GR组件化体系在实际利用中的问题跟请求,跟进机器人体系组件化设计的发展趋势,综合机器人旁边件、Petri网情势化建模等技巧,研究迎宾机器人组件化体系的设计开发的方法跟实际,设计开发出了GR组件化原型体系,并进行了相干的实验验证。论文的重要研究内容如下:1) GR组件化体系协同仿真把持体系的设计与实现:针对GR组件化体系多组件机动集成的任务须要,研制了以CORBA为软总线、以机器人技巧旁边件(RTM)为基本构架的迎宾机器人组件化协同仿真把持体系,开发出了GR组件化原型体系,实现了机器人在智能餐厅环境中的迎宾、顾客领导、物品送递等功能。2)基于市场机制的机器人组件动态和谐把持:提出了一种基于市场招投标机制的模块和谐把持方法,负责动态环境下GR在任务履行过程中因为外界环境、组件部分生效或通信梗阻等情况的应急处理,保障体系坚固运行。3)基于模块化Petri网(Modular Petri Net, MPN)的GR组件化体系情势化建模与分析:针对GR组件化体系内部存在异步、并发的组件行动的特点,为保障体系的坚固运行,提出基于MPN实际的GR组件化体系任务模型,并给出了组件化Petri网针对GR体系的可达性、逝世锁特点的分析方法,用以分析跟猜测体系可能呈现的各种状况,为GR体系组件化协同编程的公道性供给保障。本论文将MPN实际利用于以机器人旁边件为基本的GR组件化体系中,有效地分析跟猜测了机器人体系内组件协同编程、履行过程中的可达的行动状况空间,为利用者在体系集成与组件任务协同编制过程中供给必要的设计根据,为迎宾机器人组件化体系的疾速设计与牢固运行供给保障。论文的研究成果将促进GR组件化体系早日进入实际利用,存在必定的经济价值跟社会心义。

Abstract

Robotics has been rapidly extended to non-industrial applications in recent years, guide robots (GR) as an important members of the service robot family, are widely used in welcome, guide, shopping guide, transportation, cleaning, patrol, elder care and other fields. These robots face complex unstructured working environments, provide diversified services, and need integrate different functional components to accomplish special tasks. This makes them great flexibility and uncertainty. Researchers have developed a variety of welcome robot prototype, but lacking of modularization and standardization theory, it makes high cost in robot development process, it is difficult to make them universal. Robot middleware technology can shield the differences of operating systems and developing languages and network protocols, provides a variety of communication mechanisms for robotic systems, it is an effective way to eliminate heterogeneous problems of robotic system.However, there are new problems in the component based design process for guide robots:(1) The traditional robot system based on component lacks the ability of the dynamic collaborative management in the non-structural environment;(2) The behaviors of individual components in the system have asynchronous events, concurrency and other features, along with the number of components increasing, coordination control of all components will become more complex, requires using the formal modeling method to build precise mathematical model for the robot component based system, analysis and forecast system in operation in various situations, to ensure the guide robot component system stable.(3) Given the requirements of guide robot component-based system, integrate robot technology middleware, Petri net formal modeling technique to study developing methods and theories for guide robot system. Design and implement a guide robot prototype system and conduct the related experiments.The main contents are shown as follows:1) Guide robot component based collaborative simulation system design and implementation: given the requirements, develop the component based collaborative simulation system which uses CORBA as the software bus and robot technology middleware (RTM) as the basic architecture.2) Market based mechanism to coordinate control of robot components: propose a market-based collaborative control method, it is used as strategies in component failure or communication congestion the dynamic unstructured environments to ensure the .system reliable.3) Formal modeling and analysis of Modular Petri Net (MPN) for GR components system: proposed task model of guide robot component system, and provide the analysis method of modular petri net system’s reachablity, deadlock and other characteristics to analyze and predict the system‘s various states, provide reasonable protection for collaborative programming of GR system.The MPN theory is applied to the robot technology middleware based GR system, provoide accurate modeling, analysis and prediction of the collaborative programming for robot component system. The research results will contribute to the guide robot component system into practical applications, with some economic value and social significance.

关键词

迎宾机器人 组件化 CORBA 机器人技巧组件 模块化Petri网

Key words

Guide Robot Modularization CORBA RTC Modular Petri Net

文章来源

详情请查阅http://epub.cnki.net/grid2008/brief/detailj.aspx?filename=1011267751.nh&dbname=CDFDLAST2011

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