特殊任务下自主移动机器人全覆盖遍历路径规划混沌行为研究

项目名称： 特殊任务下自主移动机器人全覆盖遍历路径规划混沌行为研究

项目编号： No.61473179

项目类型： 面上项目

立项/批准年度： 2015

项目学科： 自动化技术、计算机技术

项目作者： 李彩虹

作者单位： 山东理工大学

项目金额： 80万元

中文摘要： 智能清洁和自主清扫移动机器人的商业化成熟应用，使其所涉及的关键技术-全覆盖遍历路径规划，得到了各国专家学者的普遍重视。而将这项技术推广应用到警戒巡逻、行星探测等特殊任务时，还要具备无规划、高效、随机和不可预测等特点。本课题将混沌理论与移动机器人运动学方程相结合，研究满足上述特殊任务需求的混沌行为构造方法。揭示典型一维/高维动力学方程随着参数变化、从简单到复杂直至混沌的演化机理，并确定混沌区间、混沌性能；选择性能良好的混沌映射方程构造移动机器人混沌行为控制器，产生控制机器人方向/位移的时间序列；针对全覆盖遍历规划特殊任务的需求，对混沌行为时间序列的混沌特性、统计性能进行数值分析和性能改进。所设计的行为控制器具有的遍历搜索行为能够保证任务的高效完成，对外部观察者呈现出完全的随机行为但本身具有一定的内部确定性，可为设计者所控制。这种行为构造方法具有重要的理论研究意义和社会、军事应用价值。

中文关键词： 自主移动机器人；全覆盖遍历路径规划；混沌行为；特殊任务；统计特性

英文摘要： The complete coverage path planning for the autonomous mobile robot has gained the popular attention of the experts and scholars from various countries with the commercial mature application for cleaning and sweeping robot. While when it has been extended to the patrols, planetary exploration and other special missions,the distinguished characteristics,such as efficiency,real-time, randomness,and unprediction, should be obtained. The new chaotic behaivor controller will be constructed with the combination of the chaotic theory and the kinetic equation of the mobile robot to meet the special requirement. The evolutionary process of various dynamic equations are discussed to reveal the rules from simple to complex and chaos with regard to the parameters. Then the chaotic range and chaotic characteristics are discussed. A better performance dynamic equation will be chosen to construct the chaotic behavior controller to produce the behavior time series of the direction or velocity. The chaotic behavior time series and other statistical characteristics are improved to meet the special requirement of the complete coverage path planning. The designed trajectories's characteristics can ensure the quick scanning of the patrolling space. And it demonstrates totally random behavior to the outside observer and inner deterministic to the designer. So it's behavior can be controlled. The research has important significance to society application and military utilization.

英文关键词： autonomous mobile robot;complete coverage path planning;chaotic behavior;special mission;statistical characteristics