Development of collision-free navigation using probabilistic road maps in environments with multiple differential-drive robots<\/p>\n
\u5728\u5177\u6709\u591a\u4e2a<\/strong>\u5dee\u5206\u9a71\u52a8\u673a\u5668\u4eba<\/strong>\u7684\u73af\u5883\u4e2d\u4f7f\u7528\u6982\u7387\u8def\u7ebf\u56fe<\/strong>\u5f00\u53d1\u65e0\u78b0\u649e<\/strong>\u5bfc\u822a<\/p>\n \u5173\u952e\u8bcd\uff1a\u591a\u4e2a\u673a\u5668\u4eba\uff1b\u6982\u7387\u8def\u7ebf\u56fe\uff1b\u65e0\u78b0\u649e\u5bfc\u822a<\/p>\n The future aim is an autonomous warehouse with multiple surveillance and multiple robots. This work shall deal with a simulator which should simulate one camera and multiple robots.<\/p>\n \u672a\u6765\u7684\u76ee\u6807\u662f\u62e5\u6709\u591a\u4e2a\u76d1\u63a7\u548c\u591a\u4e2a\u673a\u5668\u4eba\u7684\u81ea\u4e3b\u4ed3\u5e93\u3002 \u8fd9\u9879\u5de5\u4f5c\u5c06\u5904\u7406\u4e00\u4e2a\u6a21\u62df\u5668\uff0c\u8be5\u6a21\u62df\u5668\u5e94\u8be5\u6a21\u62df\u4e00\u4e2a\u6444\u50cf\u5934\u548c\u591a\u4e2a\u673a\u5668\u4eba\u3002<\/p>\n<\/blockquote>\n The aim of this work is to extent the former works to a multiple robot environment. First the simulator have to be improved and extent to multiple robots. Especially the robot and camera model need to be improved. Next a path planing for one robots using probabilistic road maps (PRM) should be developed. An important task is the strategy of random point generation. This should be extended to a collision-free path planning for multiple \u8fd9\u9879\u5de5\u4f5c\u7684\u76ee\u7684\u662f\u5c06\u524d\u8005\u7684\u5de5\u4f5c\u6269\u5c55\u5230\u591a\u673a\u5668\u4eba\u73af\u5883\u3002 \u9996\u5148\u5fc5\u987b\u6539\u8fdb\u6a21\u62df\u5668\u5e76\u6269\u5c55\u5230\u591a\u4e2a\u673a\u5668\u4eba\u3002 \u5c24\u5176\u662f\u673a\u5668\u4eba\u548c\u76f8\u673a\u6a21\u578b\u9700\u8981\u6539\u8fdb\u3002 \u63a5\u4e0b\u6765\uff0c\u5e94\u5f00\u53d1\u4f7f\u7528\u6982\u7387\u8def\u7ebf\u56fe (PRM) \u7684\u673a\u5668\u4eba\u8def\u5f84\u89c4\u5212\u3002 \u4e00\u4e2a\u91cd\u8981\u7684\u4efb\u52a1\u662f\u968f\u673a\u70b9\u751f\u6210\u7b56\u7565\u3002 \u8fd9\u5e94\u8be5\u6269\u5c55\u5230\u591a\u4e2a\u65e0\u78b0\u649e\u8def\u5f84\u89c4\u5212 A number of former works, functions and base simulator will be provided (including collision detection, speed controller etc.). Everything should be implemented in MATLAB\/SIMULINK with a modular software design.<\/p>\n \u5c06\u63d0\u4f9b\u8bb8\u591a\u4ee5\u524d\u7684\u4f5c\u54c1\u3001\u529f\u80fd\u548c\u57fa\u7840\u6a21\u62df\u5668\uff08\u5305\u62ec\u78b0\u649e\u68c0\u6d4b\u3001\u901f\u5ea6\u63a7\u5236\u5668\u7b49\uff09\u3002 \u4e00\u5207\u90fd\u5e94\u8be5\u901a\u8fc7\u6a21\u5757\u5316\u8f6f\u4ef6\u8bbe\u8ba1\u5728 MATLAB\/SIMULINK \u4e2d\u5b9e\u73b0\u3002<\/p>\n<\/blockquote>\n 1.Incorporation into the existing robot simulator, MATLAB\/SIMULINK<\/p>\n \u4e0e\u73b0\u6709\u673a\u5668\u4eba\u6a21\u62df\u5668 MATLAB\/SIMULINK \u76f8\u7ed3\u5408<\/p>\n<\/blockquote>\n 2.Incorporation into (quasi) random data, Path planing, grid map<\/p>\n \u5e76\u5165\uff08\u51c6\uff09\u968f\u673a\u6570\u636e\u3001\u8def\u5f84\u89c4\u5212\u3001\u7f51\u683c\u56fe<\/p>\n<\/blockquote>\n 3.Improvement and extension of the simulator<\/p>\n \u4eff\u771f\u5668\u7684\u6539\u8fdb\u548c\u6269\u5c55<\/p>\n<\/blockquote>\n 4.Development of a PRM-path planning for one robot with differential drive<\/p>\n \u4e3a\u4e00\u53f0\u5177\u6709\u5dee\u52a8\u9a71\u52a8\u7684\u673a\u5668\u4eba\u5f00\u53d1 PRM \u8def\u5f84\u89c4\u5212<\/p>\n<\/blockquote>\n 5.Development of a PRM-path planning for multiple robots with differential drive<\/p>\n \u591a\u673a\u5668\u4eba\u5dee\u52a8\u9a71\u52a8\u7684 PRM \u8def\u5f84\u89c4\u5212\u5f00\u53d1<\/p>\n<\/blockquote>\n 6.Implementation, Validation and evaluation in MATLAB\/SIMULINK<\/p>\n \u5728 MATLAB\/SIMULINK \u4e2d\u5b9e\u73b0\u3001\u9a8c\u8bc1\u548c\u8bc4\u4f30<\/p>\n<\/blockquote>\n 7.Design of a GUI using SIMULINK Dashboard and scopes<\/p>\n \u4f7f\u7528 SIMULINK Dashboard \u548c\u793a\u6ce2\u5668\u8bbe\u8ba1 GUI<\/p>\n<\/blockquote>\n 8.Documentation of the working results, which meets the requirements of the Master Thesis<\/p>\n \u7b26\u5408\u7855\u58eb\u8bba\u6587\u8981\u6c42\u7684\u5de5\u4f5c\u6210\u679c\u6587\u4ef6<\/p>\n<\/blockquote>\n \u7814\u7a76\u751f\u6bd5\u4e1a\u8bba\u6587 \u5f00\u9898\u62a5\u544a \u9898\u76ee Development of collision-free navigatio […]<\/p>\n","protected":false},"author":1,"featured_media":2517,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[8],"tags":[],"class_list":["post-2429","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-8"],"_links":{"self":[{"href":"https:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/posts\/2429","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/comments?post=2429"}],"version-history":[{"count":0,"href":"https:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/posts\/2429\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/media\/2517"}],"wp:attachment":[{"href":"https:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/media?parent=2429"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/categories?post=2429"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/wuyujing.com\/index.php\/wp-json\/wp\/v2\/tags?post=2429"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}
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