林達德Lin, Ta-Te臺灣大學:生物產業機電工程學研究所李治緯Li, Jhih-WeiJhih-WeiLi2010-05-052018-07-102010-05-052018-07-102009U0001-3107200910404200http://ntur.lib.ntu.edu.tw//handle/246246/180331本論文提出一適用於農業環境且無需外部基礎設施之自主式同步定位與地圖建立 (Simultaneously Localization And Mapping, SLAM) 機器人系統。本系統以自行開發之改良式同步定位與地圖建立演算法，使用二維雷射測距儀獲取三維空間資訊，故能克服農業環境單調且多變的特殊性，並增加應用彈性及減少系統建置成本。此外，本系統引入具調控者機制之行為與感測器控制系統，以使機器人於未知環境中進行自主導航與探索行為。為實現上述系統，本研究針對農業環境開發一大小適中，且可克服崎嶇地貌的機器人做為系統平台。為進行空間掃描，二維雷射測距儀係以傾斜向地面的方式架設於機器人上。配合機器人本體的移動，即可獲得連續之環境距離資料。所得之資料將轉換為空間中之點集，再依其高度資訊進行空間分層，同層資料視為一組資訊。利用粒子濾波器 (particle filter) 的方法將各組掃描資料分層做結合，即可同步求得環境場景地圖與機器人位置之估計結果。移動掃描過程中，地圖資料將於一定時間間隔分離為新的地圖區塊，以避免環境中雜亂資料的不必要累積，進而加強定位與地圖建立之可信度。經農業環境實驗，驗證此系統能不受農業環境中充斥之雜亂與細碎物體干擾，而有效處理農業環境機器人定位與地圖建立的問題。機器人能於未知地圖環境中實現自動導航功能，到達目的地之平均誤差小於35公分，平均每步費時6.1秒。若是預先載入環境地圖，則平均誤差小於40公分，平均每步費時2.5秒。In this thesis, we propose a robot system with SLAM (Simultaneously Local-zation and Mapping) applied to agricultural environment which does not need theuxiliary equipment. To adapt the characteristically monotone and diverse agricul-ural environment, this system uses a two-dimensional laser range nder to get thehree-dimensional information based on the improved SLAM algorithm we devel-ped. Such method can enhance the application xibility, as well as to reduce theystem construction cost. Moreover, this system includes the superior mechanism toupervise the sensor and behavior control part for robot to autonomously navigatend explore an unknown environment.n order to realize the system mentioned above, we implement a robot appro-riate for the agricultural environment as the system platform. This robot, whichs suitable in size, can overcome rugged topography. To progress spatial scanning,he two-dimensional laser range nder set up on the robot has a tilt to the ground.hile the robot moving, the continuous distance information of the environmentill be obtained at the same time. These obtained data will be transformed intooint cloud and divided into multi-layers. The points of each layer will be combinedo a "layer map" by particle lter. By the map from every layer, the robot''s posend environment state will be known. When the robot scanning the space, the mapill be separated into several sub-maps to avoid the clutter accumulating and to en-ance the localization and mapping results. Con rmed by experimental result, theystem can ignore the disturbance from the agricultural environment and solve theobot simultaneously localization and mapping problem. The SLAM experimental results demonstrate that the average errors of eld robot position is less than 35 cm;ery step takes 6:1 seconds. If the map has been constructed, the average error isess than 40 cm; every step takes 2:5 seconds. The result is feasible for agriculturalpplications.錄 =============== 謝 ................................................................................................................................... i 要 .................................................................................................................................. ii bstract ............................................................................................................................ iii 目錄 ............................................................................................................................ ix 目錄 .............................................................................................................................. xii 一章 緒論 .................................................................................................................... 1 .1 前言 ................................................................................................................... 1 .2 研究目的 ........................................................................................................... 2 二章 文獻探討 ............................................................................................................ 4 .1 農業應用環境及其需求 ................................................................................... 4 .2 農業機器人 ....................................................................................................... 4 .2.1 固定式農業機器人 ................................................................................ 5 .2.2 移動式農業機器人 ................................................................................ 6 .3 機器人移動導引策略 ....................................................................................... 6 .3.1 軌道導引 ................................................................................................ 6 .3.2 全球定位系統 (Global Positioning System) 導引 ............................... 7 .3.3 特徵導引 ................................................................................................ 8 .4 機率機器人數學模型 (Probabilistic Robotics) ............................................... 8 .4.1 基礎架構 ................................................................................................ 8 .4.2 貝氏濾波器 (Bayes Filter) .................................................................. 10 .5 機器人定位 (Robotic Localization) ................................................................ 11 .5.1 馬可夫定位 (Markov Localization) ..................................................... 11 .5.2 擴展型卡曼濾波器定位 (Extended Kalman Filter (EKF) Localization) ........................................................................................................................ 12 .5.3. 蒙地卡羅定位 (Monte Carlo Localization, MCL)............................. 13 .6 機器人同步定位與地圖建立 (Simultaneously Localization And Mapping, SLAM) .................................................................................................................... 15 .6.1 Online SLAM 與Full SLAM ............................................................... 15 .6.2 EKF SLAM ........................................................................................... 17 .6.3 Scan Matching SLAM ........................................................................... 18 .6.4 FActor Solution To SLAM, FAST SLAM ............................................. 19 .7 三維立體資訊SLAM ..................................................................................... 21 三章 材料與方法 ...................................................................................................... 22 .1 系統架構 ......................................................................................................... 22 .1.1 系統規劃 .............................................................................................. 22 .1.2 硬體設備 .............................................................................................. 23 .1.3 軟體架構 .............................................................................................. 26 .2 系統模型建立 ................................................................................................. 28 .2.1 環境敘述 .............................................................................................. 28 .2.2 行為模式 .............................................................................................. 28 .2.3 機器人模型 .......................................................................................... 30 .2.4 感測器模型 .......................................................................................... 33 .3 行為控制與感測器訊號耦合 ......................................................................... 34 .4 機器人運動規劃 ............................................................................................. 35 .4.1 路徑規劃 .............................................................................................. 36 .4.2 導航 ...................................................................................................... 36 .5 同步定位與地圖建立 ..................................................................................... 38 .5.1 雷射資料分層 ...................................................................................... 39 .5.2 資料比對接合 ...................................................................................... 39 .5.3 監督者調控與耦合 .............................................................................. 42 .6 系統流程架構 ..................................................................................... 42 .7 實驗規劃與系統驗證 ..................................................................................... 44 四章 結果與討論 ...................................................................................................... 46.1 機器人機構設計 ............................................................................................. 46 .2 機器人模型評估 ............................................................................................. 49 .2.1 機體運動評估 ...................................................................................... 49 .2.2 雷射測距儀試驗 .................................................................................. 49 .3 程式介面設計 ................................................................................................. 52 .4 同步定位與地圖建立實驗 ............................................................................. 55 .4.1 資料分層 .............................................................................................. 60 .4.2 重複路徑接合 .............................................................................................. 61 .4.3 地圖顯示 .............................................................................................. 64 .4.4 路徑規劃與導航 .................................................................................. 68 .5 地圖量化實驗 ..................................................................................... 68 .6 重複路徑比較實驗 ..................................................................................... 70 .7 無地圖自動導航實驗 ..................................................................................... 70 .5.1 溫室 ...................................................................................................... 72 .6 預載地圖自動導航實驗 ................................................................................. 73 五章 結論與建議 ...................................................................................................... 78 .1 結論 ................................................................................................................. 78 .1.1 農業環境機器人設計與製造 .............................................................. 78 .1.2 改良型同步定位與地圖建立方法 ...................................................... 79 .1.3 機器人路徑規劃與控制 ...................................................................... 79 .2 建議 ................................................................................................................. 80 amp;#63851;考文獻 ........................................................................................................................ 81application/pdf37371539 bytesapplication/pdfen-US田間機器人同步定位與地圖建立(SLAM)自主導航路徑規劃Field robotSLAMAutonomous navigationPath planningthesishttp://ntur.lib.ntu.edu.tw/bitstream/246246/180331/1/ntu-98-R96631018-1.pdf