研究生毕业论文
开题报告
题目
Development of collision-free navigation using probabilistic road maps in environments with multiple differential-drive robots
在具有多个差分驱动机器人的环境中使用概率路线图开发无碰撞导航
关键词：多个机器人；概率路线图；无碰撞导航
背景
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.
未来的目标是拥有多个监控和多个机器人的自主仓库。 这项工作将处理一个模拟器，该模拟器应该模拟一个摄像头和多个机器人。
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
robots, including the definition of a safety distance around each robot.
这项工作的目的是将前者的工作扩展到多机器人环境。 首先必须改进模拟器并扩展到多个机器人。 尤其是机器人和相机模型需要改进。 接下来，应开发使用概率路线图 (PRM) 的机器人路径规划。 一个重要的任务是随机点生成策略。 这应该扩展到多个无碰撞路径规划
机器人，包括定义每个机器人周围的安全距离。
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.
将提供许多以前的作品、功能和基础模拟器（包括碰撞检测、速度控制器等）。 一切都应该通过模块化软件设计在 MATLAB/SIMULINK 中实现。
任务
1.Incorporation into the existing robot simulator, MATLAB/SIMULINK
与现有机器人模拟器 MATLAB/SIMULINK 相结合
2.Incorporation into (quasi) random data, Path planing, grid map
并入（准）随机数据、路径规划、网格图
3.Improvement and extension of the simulator
仿真器的改进和扩展
4.Development of a PRM-path planning for one robot with differential drive
为一台具有差动驱动的机器人开发 PRM 路径规划
5.Development of a PRM-path planning for multiple robots with differential drive
多机器人差动驱动的 PRM 路径规划开发
6.Implementation, Validation and evaluation in MATLAB/SIMULINK
在 MATLAB/SIMULINK 中实现、验证和评估
7.Design of a GUI using SIMULINK Dashboard and scopes
使用 SIMULINK Dashboard 和示波器设计 GUI
8.Documentation of the working results, which meets the requirements of the Master Thesis
符合硕士论文要求的工作成果文件