市內(nèi)移動機器人總體功能的概念性設(shè)計及計算機虛擬仿真.pdf

1、武漢理工大學(xué)碩士學(xué)位論文市內(nèi)移動機器人總體功能的概念性設(shè)計及計算機虛擬仿真姓名：胡光艷申請學(xué)位級別：碩士專業(yè)：機械設(shè)計及理論指導(dǎo)教師：王建中田會方2003.5.1ABSTRACTThercsearchofurbanmobilerobotisaimportantembranchmentinthefieldofrobotresearchandhavewideapplicationforeground，suchasautomotivevehi

2、cleonspeedwayfirefightingrobotindangerousenviromnent，concurrentfootballrobotsandSOonWecanseetheresearchisoutspreadingindepthbydegreesWiththeincreasingcomplexityofthesystemandquantityofoperation，theneedofpowerforequipment

3、israisingdaybydayButmostofportableflexiblerobotsaredifficulttotakemanyfacilitiesSo，dividethecomputerfromrobotTherobotcompoundsvisionsignalandsensorsignalobservedbyitselfandtransmitsthemtothecomputerfarawayThepowerfulcomp

4、uterthen，analysesanddealswiththem，sendsoutsignaltogearingoftherobottocontrolitsactioninsuccessionOrtherobotjustdoessomelowendworksuchasavoidingblocks，andotherworkwillbedonebythepowerfulmachineinthedistanceormanualworkinv

5、irtualenvironmentviaremotecontrol：toapplythetechniqueofvirtualrealitytotheresearchofnavigationofmobilerobotsisafeasiblemethodConsideringahalffreedommobilerobot，thepaperhaddonesomeconceptualanalysisanddesign，thenemphasize

6、donsomeessentialfunctions，includingvelocitycontrol，pathplan，targettrackingetcStudiedthealgorithmsrespectivelysuchasPIDalgorithms，iterativealgorithms，fuzzylogicalgorithms，andsoon，andusedMATLABtosimulateandcomparedwitheach

7、otherThepaperestablishedthemodeloftherobotandcorrelativevirtualscenebyVRML(virtualrealitymodelinglanguage)andactualizedsimplemotivationandabilitytointeractwithuser；finallyconnectedtherobot’ssimulinkmodelwithitsthree—dime

8、nsionalmodelbyVRtoolboxintegratedinMATLAB，whichenabledtheprocessofsimulationtodemonstrateinaintuitionalwayThus，wecancontrolandmanipulatearobot’SmovementinthevirtualworldwiththesignalscamefromitssimulinkmodeIKeywords：mobi