不确定环境下的自主移动机器人目标搜索问题研究

项目名称： 不确定环境下的自主移动机器人目标搜索问题研究

项目编号： No.61503108

项目类型： 青年科学基金项目

立项/批准年度： 2016

项目学科： 自动化技术、计算机技术

项目作者： 张波涛

作者单位： 杭州电子科技大学

项目金额： 22万元

中文摘要： 目标搜索是自主机器人系统功能的重要组成部分，其潜在应用领域包括: 星球/深海探索、灾难中的搜索与救援、化工厂故障检测、安全巡逻等。搜索任务的运动规划、环境建模方面的研究虽然取得了一定进展，但仍有许多不足。目前研究对搜索过程中的不确定性因素没有充分考虑，本项目拟设计一种概率拓扑环境模型，实现环境模型对环境和目标不确定性信息的存储与更新。针对通用规划方法影响搜索效率的问题，本项目拟对搜索任务进行分类，研究可行性最优搜索、存在时间阈值的搜索、安全性最优搜索等模式；并设计手眼协同越障搜索、追-逃等搜索任务的专有行为，研究不同模式下的行为协调机制。力争通过本项目的研究，实现部分搜索模式的环境建模与任务规划，促进不确定环境下的搜索任务分类研究，解决搜索过程中工作环境、目标位置与特征的不确定性因素考虑不足的问题，并促进相关理论方法在家庭服务、工厂巡逻等场合中的实际应用。

中文关键词： 移动机器人；目标搜索；运动规划；环境建模；概率模型匹配

英文摘要： Target search is an important part of the function of autonomous robot system. Its potential applications include plant/deep-sea exploration, search and rescue in disasters, fault detection in chemical industries, patrolling etc. Research on motion planning, environment modeling of search task has made some progress, but deficiencies still exist, e.g., various uncertain factors in target search have not been given due consideration.This project aims to design a probabilistic topology environment model, to realize the storage and update of the uncertain information of the environment and the target. Using the general planning method to do motion planning for a particular task will reduce the search efficiency. To improve search efficiency, search tasks will be classified, and motion planning strategies for different search patterns, including feasibility optimal search, feasibility search with time threshold and security optimal search, will be explored. Special target search behaviors, such as hand-eye coordination inspection among obstacles, pursuit and evasion, and behavior coordination mechanisms according to task patterns, will be studied. It is hoped that this project will offer the environment model and task planning method for different search patterns, promote research on task classification in uncertain environments, provide solution to dealing with the uncertainty of environments, the location and feature of target, and thus bring about the application of such technologies to the areas of family service, security service and the like.

英文关键词： Mobile robot;Target search;Motion planning;Environment modeling;Probabilistic model matching