【正文】 tions, exhibition centers and logistics warehouses and other largescale flow of passengers and places, large and mediumsized cities of highlevel, highend mercial buildings, an increasing number, the automation needs of the increasingly urgent. The patrol robot is a set of environmental perception, route planning, dynamic decisionmaking, behavior control functions into one integrated system, patrol robot sentinel surveillance visits or continuous automatic inspection will be a viable solution. The robot for the inspection work has broad application prospects. In this paper, the autonomous mobile robot platform, the main task and goal differential drive wheeled mobile robots in the Robotic Studio simulation system to conduct an inspection of the simulation environment, by acquiring laser data and camera data path planning, obstacle avoidance and realtime monitoring design manual control interface to manually control the robot to conduct an inspection. 【 Key words】 Mobile Robot； Path Planning ； Obstacle Avoidance； Inspections； Simulation； 室內(nèi)巡視機(jī)器人設(shè)計(jì)和仿真實(shí)現(xiàn) 4 目錄 1 緒論 ...................................................................................................................................................................1 引言 .......................................................................................................................................................... 1 移動(dòng)機(jī)器人 的研究?jī)?nèi)容及發(fā)展趨勢(shì) ................................................................................................ 1 移動(dòng)機(jī)器人的國(guó)內(nèi)外研究現(xiàn)狀 ................................................................................................ 1 移動(dòng)機(jī)器人的發(fā)展趨勢(shì) ............................................................................................................. 2 論文的主要內(nèi)容 .................................................................................................................................... 2 2 室內(nèi)巡視機(jī)器人設(shè)計(jì)的總體方案 ..............................................................................................................3 研究任務(wù) ................................................................................................................................................. 3 仿真機(jī)器人的組成 ............................................................................................................................... 3 激光傳感器 ........................................................................................................................................ 3 攝像頭 ................................................................................................................................................. 3 差分驅(qū)動(dòng)輪 ........................................................................................................................................ 4 室內(nèi)巡視機(jī)器人的開發(fā)環(huán)境 .............................................................................................................. 5 仿真環(huán)境 MICROSOFT ROBOTICS DEVELOPER STUDIO 20xx R3............................................... 5 編程環(huán)境 VISUAL STUDIO 20xx....................................................................................................... 6 仿真機(jī)器人的總體巡視方案 .............................................................................................................. 6 總體巡視方案 .................................................................................................................................... 6 傳感器數(shù)據(jù)接口 ............................................................................................................................... 6 避障 ..................................................................................................................................................... 7 路徑規(guī)劃 ............................................................................................................................................. 7 實(shí)時(shí)監(jiān)控 ............................................................................................................................................. 7 手動(dòng)控制 ............................................................................................................................................. 7 3 仿真機(jī)器人巡視算法及實(shí)現(xiàn) .......................................................................................................................8 仿真環(huán)境建立及編 程調(diào)試 .................................................................................................................. 8 仿真環(huán)境建立 .................................................................................................................................... 8 控制程序的編寫 ............................................................................................................................... 8 避障 ........................................................................................................................................................ 10 獲取激光數(shù)據(jù) .................................................................................................................................. 10 避障的實(shí)現(xiàn) ...................................................................................................................................... 11 避障程序 ........................................................................................................................................... 12 路徑規(guī)劃 ............................................................................................................................................... 14 機(jī)器人沿墻巡視的設(shè)計(jì) ................................................................................................................ 14 最小二乘原理 .................................................................................................................................. 15 直線擬合 ..........................................................................................................