轮式家庭服务机器人导航的研究

杨利霞

[size=16.9412pt]轮[size=16.4429pt]式[size=16.692pt]家庭[size=16.1938pt]服[size=16.4429pt]务[size=16.9412pt]机[size=16.4429pt]器[size=16.1938pt]人[size=16.4429pt]导[size=16.9412pt]航[size=15.4464pt]的[size=16.4429pt]研

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[size=16.9412pt]究

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随 着 社会经济的不断发 展[size=1.49481pt]，[size=6.72664pt]Ｗ [size=7.72318pt]及[size=7.47405pt]老龄 [size=7.97232pt]化 [size=6.47751pt]问[size=7.97232pt]题 [size=7.22491pt]的 [size=5.48097pt]日 [size=7.72318pt]益[size=7.47405pt]加 [size=7.72318pt]重[size=1.24567pt]，[size=7.72318pt]人[size=7.22491pt]们[size=7.72318pt]对[size=7.47405pt]于家 [size=7.97232pt]庭[size=7.72318pt]服务机器[size=7.47405pt]人 [size=7.22491pt]的 [size=7.47405pt]需[size=7.72318pt]求[size=7.47405pt]也[size=7.72318pt]越[size=7.72318pt]来越[size=7.47405pt]高[size=1.99308pt]。[size=7.72318pt]家庭服务[size=7.97232pt]机[size=7.59861pt]器[size=7.47405pt]人 要 [size=5.7301pt]自 [size=7.59862pt]主[size=7.47405pt]的 [size=7.97232pt]完[size=7.72318pt]成[size=7.47405pt]各 [size=7.72318pt]种[size=7.59862pt]服[size=7.47405pt]务[size=7.72318pt]任[size=7.47405pt]务[size=1.49481pt]，[size=7.72318pt]就 [size=7.22491pt]需[size=7.72318pt]要[size=7.47405pt]具[size=7.72318pt]备 [size=6.47751pt]良 [size=7.47405pt]好 [size=7.22491pt]的 [size=6.72664pt]导 [size=7.97232pt]航[size=7.72318pt]能[size=7.22491pt]力[size=1.24567pt]，[size=7.59862pt]但[size=7.47405pt]是 [size=6.72664pt]Ｗ [size=7.72318pt]往[size=6.97578pt]的[size=7.22491pt]导[size=7.97232pt]航[size=7.72318pt]技[size=7.47405pt]术 不 能[size=7.59862pt]取[size=7.97232pt]得[size=7.72318pt]很[size=7.47405pt]好 [size=6.97578pt]的[size=7.47405pt]效 [size=7.22491pt]果[size=1.99308pt]。[size=7.72318pt]基[size=7.34948pt]于 [size=7.97231pt]此[size=1.49481pt]，[size=7.47405pt]本 文 [size=7.59862pt]研[size=7.22491pt]究 [size=6.47751pt]了[size=3.98616pt]一[size=7.47405pt]种 [size=7.72318pt]适[size=6.97578pt]用 [size=7.34948pt]于[size=7.72318pt]家庭[size=7.84775pt]服[size=7.72318pt]务机[size=7.59862pt]器[size=7.47405pt]人 在 室 [size=6.47751pt]内 [size=7.72318pt]环[size=7.47405pt]境 [size=6.72664pt]中 [size=6.97578pt]的 [size=7.22491pt]导[size=7.72318pt]航[size=7.47405pt]方[size=7.84775pt]法[size=2.24221pt]。[size=7.47405pt]论 [size=7.72318pt]文首先[size=7.47405pt]详 [size=7.72318pt]细[size=7.47405pt]分[size=7.72318pt]析[size=6.47751pt]了 [size=7.47405pt]家[size=7.72318pt]庭[size=7.84775pt]服[size=7.97232pt]务机[size=7.59861pt]器[size=7.72318pt]人[size=6.97578pt]的 [size=7.47405pt]导 [size=7.72318pt]航[size=7.97232pt]所[size=7.72318pt]涉[size=7.84775pt]及 [size=7.47405pt]到 [size=6.97578pt]的[size=7.72318pt]定[size=7.47405pt]位和 [size=8.09688pt]路[size=7.72318pt]径规[size=7.47405pt]划 [size=7.72318pt]技术[size=7.22491pt]的[size=7.72318pt]研[size=7.22491pt]巧 [size=7.97232pt]现[size=7.84775pt]状[size=1.49481pt]，[size=7.47405pt]并[size=7.47405pt]结[size=7.72318pt]合家庭室[size=6.22837pt]内 [size=7.59862pt]环[size=7.72318pt]境[size=6.97578pt]的[size=7.97232pt]特[size=7.47405pt]巧 [size=7.84775pt]性[size=1.49481pt]，[size=7.72318pt]选[size=7.97232pt]择[size=6.47751pt]了 [size=7.97232pt]合[size=7.72318pt]适 [size=6.97578pt]的[size=7.22491pt]定[size=7.97232pt]位[size=7.47405pt]和 [size=7.97232pt]路径[size=7.72318pt]规划[size=8.22145pt]技[size=7.72318pt]术[size=1.99308pt]。[size=7.72318pt]其次[size=1.24567pt]，[size=7.97232pt]针对[size=7.72318pt]家庭[size=7.84775pt]服[size=7.72318pt]务机[size=7.84775pt]器[size=7.72318pt]人[size=6.97578pt]的 [size=7.47405pt]定 [size=7.72318pt]位[size=7.22491pt]需[size=7.72318pt]求[size=1.49481pt]，[size=7.72318pt]为[size=7.97232pt]机[size=7.72318pt]器人[size=7.47405pt]和室 [size=6.47751pt]内 [size=7.72318pt]环[size=7.97232pt]境[size=7.72318pt]进斤[size=6.47751pt]了 [size=7.97232pt]数[size=7.47405pt]学 [size=7.72318pt]建[size=7.97232pt]模[size=1.49481pt]，[size=7.59862pt]研[size=7.47405pt]究 [size=6.47751pt]了[size=7.72318pt]航[size=7.84775pt]迹推[size=7.72318pt]算[size=7.22491pt]的[size=7.47405pt]室 [size=6.47751pt]内 [size=7.47405pt]定[size=7.72318pt]位算[size=7.84775pt]法[size=2.11765pt]。[size=7.47405pt]然[size=7.22491pt]后[size=1.24567pt]，[size=7.84775pt]对[size=7.72318pt]家庭[size=7.59862pt]服[size=7.72318pt]务[size=7.97232pt]机[size=7.47405pt]器 [size=7.97232pt]人[size=7.22491pt]的[size=8.09688pt]路[size=7.47405pt]径 [size=7.72318pt]规[size=7.97232pt]划[size=7.84775pt]进[size=7.22491pt]斤 [size=6.22837pt]了 [size=7.72319pt]研[size=7.47405pt]究[size=1.49481pt]，[size=8.09688pt]洽 [size=6.72664pt]出 [size=6.22837pt]了[size=3.98616pt]一[size=7.72318pt]种将[size=7.97232pt]地[size=7.72318pt]格法[size=7.47405pt]和 [size=7.72318pt]基[size=7.34948pt]于 [size=7.84775pt]行[size=7.72318pt]为[size=6.97578pt]的 [size=7.97232pt]路[size=7.84775pt]径[size=7.72318pt]规划[size=7.47405pt]方[size=7.84775pt]法[size=7.47405pt]相 结 [size=7.72318pt]合[size=7.22491pt]的[size=7.97231pt]路[size=7.72318pt]运[size=7.47405pt]规[size=7.72318pt]划[size=7.72318pt]算法[size=2.11765pt]。[size=7.97232pt]慎[size=7.47405pt]思 层 [size=7.72318pt]采[size=6.97578pt]用 [size=7.72318pt]袖格[size=7.84775pt]法[size=7.47405pt]为 [size=7.72318pt]机[size=7.59862pt]器[size=7.72318pt]人[size=7.84775pt]规[size=7.72318pt]划 [size=6.47751pt]出[size=7.72319pt]全[size=7.22491pt]局 [size=7.72318pt]最[size=7.84775pt]优[size=6.97578pt]的[size=7.72318pt]路[size=7.84775pt]径[size=7.72318pt]序[size=7.22491pt]列[size=1.49481pt]，[size=7.72318pt]并为[size=7.47405pt]反应 层[size=7.72318pt]提 供子 [size=5.23183pt]目 [size=7.47405pt]标 [size=7.22491pt]点[size=1.74394pt]。[size=7.84775pt]反[size=7.59862pt]应
层[size=7.97232pt]采[size=6.97578pt]用 [size=7.84775pt]基[size=7.22491pt]于 [size=7.97232pt]行[size=7.47405pt]为 [size=7.22491pt]的[size=8.09688pt]路[size=7.72318pt]径规[size=7.22491pt]划[size=7.72318pt]方[size=7.97232pt]法[size=7.72318pt]实[size=7.97231pt]现[size=7.72318pt]慎[size=7.47405pt]思 [size=7.72318pt]层[size=7.97232pt]规[size=7.47405pt]划 [size=7.22491pt]的[size=7.72318pt]路[size=7.97232pt]径[size=1.49481pt]，[size=7.72318pt]并[size=8.09688pt]对[size=7.84775pt]环[size=7.97232pt]境 [size=6.47751pt]中 [size=7.22491pt]的[size=7.72318pt]各种障[size=7.97232pt]碍 [size=7.72318pt]物[size=7.97231pt]进[size=7.47405pt]行 [size=7.72318pt]避障[size=2.24221pt]。[size=7.97232pt]反[size=7.72318pt]应[size=7.72318pt]层[size=7.72318pt]设[size=7.47405pt]计 [size=6.47751pt]了 [size=6.72664pt]四 [size=7.72318pt]种基本[size=7.22491pt]行 [size=7.47405pt]为 [size=7.22491pt]和行 [size=7.47405pt]为[size=8.22145pt]协[size=7.47405pt]调 [size=7.72318pt]方[size=8.09688pt]法[size=1.99308pt]。[size=7.97232pt]最[size=7.22491pt]后[size=1.49481pt]．[size=7.97231pt]通过 [size=6.97578pt]Ｍ[size=6.35294pt]Ａ[size=4.9827pt]Ｔ Ｌ[size=6.22837pt]Ａ[size=5.23183pt]Ｂ [size=7.72318pt]建[size=7.34948pt]立 [size=6.47751pt]了 [size=7.47405pt]仿 真 [size=7.84775pt]平[size=6.72664pt]台[size=1.49481pt]，[size=7.47405pt]对 [size=7.72318pt]本[size=7.47405pt]文 [size=7.72318pt]提[size=6.47751pt]出 [size=6.72664pt]的 [size=7.72318pt]路径[size=7.97232pt]规[size=7.72318pt]划[size=7.47405pt]方 [size=7.72318pt]法进行 [size=6.22837pt]了 [size=7.47405pt]仿[size=7.72318pt]真验[size=7.59861pt]证[size=7.47405pt]和 分 [size=7.97232pt]析[size=1.24567pt]，[size=7.47405pt]仿[size=7.72318pt]真[size=7.47405pt]结 果 [size=7.72318pt]表[size=6.72664pt]明[size=1.24567pt]，[size=7.97232pt]机[size=7.47405pt]器[size=7.72318pt]人[size=7.47405pt]能 [size=7.72318pt]够[size=7.47405pt]成功 [size=6.72664pt]的 [size=7.72318pt]躲[size=7.97232pt]遥[size=7.72318pt]室 [size=6.47751pt]内[size=7.72319pt]环[size=7.97232pt]境 [size=6.47751pt]中 [size=6.97578pt]的 [size=7.47405pt]动 [size=7.72318pt]态[size=2.24221pt]、[size=7.47405pt]静 态[size=7.47405pt]障[size=7.59862pt]碍[size=7.72318pt]物[size=1.24567pt]，[size=7.84775pt]解[size=7.47405pt]决 [size=6.72664pt]凹 [size=7.59862pt]形[size=7.72318pt]巧碍物[size=6.97578pt]的[size=2.98962pt]＂[size=7.22491pt]局 [size=7.72318pt]部极[size=7.47405pt]小 值[size=2.86505pt]＂[size=6.47751pt]问 [size=7.72318pt]题[size=1.49481pt]，[size=5.7301pt]自 [size=7.47405pt]行[size=7.22491pt]判 断 [size=7.97232pt]机[size=7.47404pt]器[size=7.59862pt]人[size=6.97578pt]陷 [size=7.47404pt]入[size=7.84775pt]封 [size=6.47751pt]闭 [size=6.97578pt]的[size=7.72318pt]子[size=7.22491pt]工[size=7.72318pt]作[size=6.97578pt]区[size=7.97232pt]域[size=7.72318pt]并停[size=7.59862pt]止[size=7.97232pt]路[size=7.72318pt]径[size=7.84775pt]规[size=7.72318pt]划[size=1.74394pt]。[size=7.72318pt]仿真[size=7.97232pt]表 [size=6.72664pt]明 [size=7.72318pt]本[size=7.97232pt]文[size=7.72318pt]所[size=7.47405pt]给 [size=6.47751pt]出 [size=6.97578pt]的[size=7.84775pt]路[size=7.97232pt]枉[size=7.72318pt]规[size=7.47405pt]划 方 [size=7.84775pt]法[size=7.47405pt]具 有 [size=6.47751pt]良 [size=7.72318pt]好[size=6.97578pt]的[size=7.72318pt]规划效[size=7.47405pt]果[size=1.24567pt]，[size=7.72318pt]能够达[size=7.47405pt]到 设 [size=7.72318pt]计指[size=7.97232pt]标[size=7.47405pt]要 [size=7.72318pt]求[size=1.99308pt]。[size=7.72318pt]本[size=7.47405pt]文[size=7.84775pt]对[size=7.47405pt]家 [size=7.72318pt]庭服务[size=7.97232pt]机[size=7.59862pt]器[size=7.84775pt]人[size=6.97578pt]的 [size=7.22491pt]导 [size=7.72318pt]航[size=6.47751pt]问 [size=7.47405pt]题 [size=7.84775pt]进[size=7.22491pt]行 [size=6.47751pt]了 [size=7.47405pt]研 巧[size=1.49481pt]，[size=7.84775pt]提 [size=6.47751pt]出 [size=6.22837pt]了[size=4.23529pt]一[size=7.47405pt]种 [size=7.72318pt]有效[size=7.22491pt]的[size=7.72318pt]家[size=7.47405pt]庭[size=7.59862pt]服[size=7.72318pt]务[size=7.97232pt]机[size=7.47404pt]器[size=7.72318pt]人[size=6.97578pt]的 [size=7.22491pt]导[size=7.72318pt]航方[size=7.84775pt]法[size=1.49481pt]，[size=7.47405pt]对 [size=7.22491pt]于[size=7.72318pt]室[size=6.47751pt]内 [size=7.72318pt]移[size=7.47405pt]动 [size=7.72318pt]机器[size=7.47405pt]人 [size=6.97578pt]的 [size=7.47405pt]导[size=7.97232pt]航[size=7.72318pt]或路[size=7.97232pt]径[size=7.84775pt]规[size=7.47405pt]划 [size=7.72318pt]都[size=7.47405pt]具[size=7.72318pt]有[size=4.11073pt]一[size=7.47405pt]定 [size=6.97578pt]的[size=7.47405pt]參 [size=7.72318pt]考价值[size=1.99308pt]。
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