摘要
介绍了一种室内移动机器人CASIA I .对该机器人的运动机构做了较为详细地阐述 ,针对该运动机构给出了机器人的运动方程和一种导航控制算法 ,并根据该算法进行了软件仿真和实物实验 .在软件仿真和实物实验两种环境下 ,机器人都能够实时避开障碍物奔向目标 .仿真和实验表明 :该移动平台具有良好的可靠性 。
This paper describes an indoor autonomous wheeled mobile robot CASIA-I that we developed. For the locomotion system of the robot, kinemics equation and navigation algorithm is expounded here. The software simulation and experiment are conducted by the algorithm. Both in the environment of software simulation and in the condition of experiment, the robot can avoid obstacles and navigate itself to the destination in real time. The stability of the platform and effectiveness of the algorithm are demonstrated by means of simulation example and experiment results.
出处
《自动化学报》
EI
CSCD
北大核心
2003年第6期893-899,共7页
Acta Automatica Sinica
基金
国家"8 6 3"计划 (2 0 0 1AA4 2 2 340
2 0 0 2AA4 2 316 0 )
国家自然科学基金 (6 0 2 0 5 0 0 4 )资助~~
