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摘要履带式机器人的研究和开发近年来受到了人们的高度重视，由于履带式机器人的移动工具和坦克一样是两条可以适应各种路面环境的履带，有着良好的附着牵引力，且履带式机器人的构形可...
摘 要
履带式机器人的研究和开发近年来受到了人们的高度重视，由于履带式机器人的移动工具和坦克一样是两条可以适应各种路面环境的履带，有着良好的附着牵引力，且履带式机器人的构形可以根据地形条件和作业要求进行适当的变化，在动力、稳定性以及可靠性等诸多方面都略优于其他移动机器人，并且它能满足一些特殊的性能要求，所以与其他移动机器人相比较而言，履带式机器人更能够胜任恶劣环境下的任务。
本次毕业设计以履带式机器人参与火灾救援任务为假想，并针对救援过程中各种环境情况，设计和规划该履带式机器人在火灾救援任务中的行走路径。其中，路径规划的主要目的是按照理论算法对该救援机器人规划出一条在救援环境中与各个障碍物无碰撞且执行任务最优的路径。在完成路径规划的理论设计之后，并在路径规划的理论设计基础上结合模糊滚动RRT算法对该救援机器人的路径进行仿真设计。最后，结合路径规划理论算法和仿真设计来验证对该履带式机器人在火灾救援任务中路径规划设计的可行性。
关键词：履带式机器人；路径规划；救援环境；障碍物；理论算法；模糊滚动RRT算法 展开
履带式机器人的研究和开发近年来受到了人们的高度重视，由于履带式机器人的移动工具和坦克一样是两条可以适应各种路面环境的履带，有着良好的附着牵引力，且履带式机器人的构形可以根据地形条件和作业要求进行适当的变化，在动力、稳定性以及可靠性等诸多方面都略优于其他移动机器人，并且它能满足一些特殊的性能要求，所以与其他移动机器人相比较而言，履带式机器人更能够胜任恶劣环境下的任务。
本次毕业设计以履带式机器人参与火灾救援任务为假想，并针对救援过程中各种环境情况，设计和规划该履带式机器人在火灾救援任务中的行走路径。其中，路径规划的主要目的是按照理论算法对该救援机器人规划出一条在救援环境中与各个障碍物无碰撞且执行任务最优的路径。在完成路径规划的理论设计之后，并在路径规划的理论设计基础上结合模糊滚动RRT算法对该救援机器人的路径进行仿真设计。最后，结合路径规划理论算法和仿真设计来验证对该履带式机器人在火灾救援任务中路径规划设计的可行性。
关键词：履带式机器人；路径规划；救援环境；障碍物；理论算法；模糊滚动RRT算法 展开
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Abstract
Crawler robot research and development in recent years has been great attention, as tracked mobile robots as tools and tank are two environments to adapt to a variety of road track, with good adhesion traction, and the track-type machine Configuration of people and terrain conditions can make the appropriate changes in operational requirements, in the power, stability and reliability, and many other aspects of mobile robot slightly better than the other, and it can meet some special performance requirements, and other mobile Robots In comparison, more competent crawler robot tasks under adverse circumstances.
The crawler robot graduation to participate in a rescue mission for the imaginary fire and rescue process for a variety of environmental conditions, design and planning of the rescue crawler robot tasks in the fire walking path. Among them, the main purpose of path planning algorithm is based on the theory of planning out a rescue robot in the rescue environment with various obstacles and tasks the optimal collision-free path. Upon completion of the theory of designing the path planning and path planning based on the theoretical design method of fuzzy rolling RRT path of the simulated rescue robot design. Finally, the theory of path planning algorithm and simulation to verify the design of the fire rescue crawler robot path planning task in the feasibility of the design.
Key words: tracked robot; path planning; rescue environment; obstacles; theoretical algorithm; fuzzy rolling RRT algorithm
Crawler robot research and development in recent years has been great attention, as tracked mobile robots as tools and tank are two environments to adapt to a variety of road track, with good adhesion traction, and the track-type machine Configuration of people and terrain conditions can make the appropriate changes in operational requirements, in the power, stability and reliability, and many other aspects of mobile robot slightly better than the other, and it can meet some special performance requirements, and other mobile Robots In comparison, more competent crawler robot tasks under adverse circumstances.
The crawler robot graduation to participate in a rescue mission for the imaginary fire and rescue process for a variety of environmental conditions, design and planning of the rescue crawler robot tasks in the fire walking path. Among them, the main purpose of path planning algorithm is based on the theory of planning out a rescue robot in the rescue environment with various obstacles and tasks the optimal collision-free path. Upon completion of the theory of designing the path planning and path planning based on the theoretical design method of fuzzy rolling RRT path of the simulated rescue robot design. Finally, the theory of path planning algorithm and simulation to verify the design of the fire rescue crawler robot path planning task in the feasibility of the design.
Key words: tracked robot; path planning; rescue environment; obstacles; theoretical algorithm; fuzzy rolling RRT algorithm
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太专业了，我不会，真的
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