機器人路徑規(guī)劃的研究及其虛擬監(jiān)視.pdf

1、昆明理工大學碩士學位論文機器人路徑規(guī)劃的研究及其虛擬監(jiān)視姓名：劉微申請學位級別：碩士專業(yè)：控制理論與控制工程指導教師：楊承志20040110AbstractAsartificialintelligenccswideapplication，roboticshaslastlydevelopmentasflbrancheofit，nletechnologyoftherobotistypicalsrepresentativeofmodeminf

2、ormationtechnologyandadvancedmanufacturingtechnologyIntheteehnologicalfieldoftherobotPathplanningisanimportantbranchintheresearchfieldoftherobotSocalledtheoptimumPathplanningproblemsesofrobotsissomeofbasisoroptimizationc

3、riterion(suchasworkingcostminimumwalkroutemostshortwalkmostshofttime，etc)s，Howtoplanandadoptthegoodrouteofrobotcallevadetheoptimumrouteofthebarriertofindonefromoriginatedstatetogoalstateinitsworkspace，savealargeamountofr

4、obotactivitydurationandreducetherobottoweal“andtearintechnologysavethemanpowerresourcesandreducefundinputatthesametime，establishthegoodfoundationfortheapplicationinmanykindsoftradesoftherobotItisgenerallyallthetwo—diment

5、ionalemulationthatthetraditionverifiesmethodsofplanningtechnologyoftherouteItCallnotdirectlyperceivedthroughthecomputertheobservationandanalysingconcreteimplementationplannedinroutethatcantbeaccurateAndthevirtualcontrolt

6、echnologythatnowadaysdevelopedrapidlyhassolvedthisproblemItistealizethemethodcontrolledinrealtimewimthetechnologyofvirtualreali鉀tocontrolvirtuallyUtilizethethree【imensiontoshowthattheworkstationrealizesthatiscontrolledvi

7、rtuallyinthemonitoringsystemButitcannotcontrollingpersonnelofferanddirectlyperceivedthroughthevividlyReal—timethreedimensionalsceneinformation，thuscan’tcontrolandofferunderstandingforthedecisionofthetaskBecauseitiscompli

8、cateddaybydaytocontrolthetask，theamountofinformationislarge，itisheavytodealwith也etask，Sothemonitoringsystemgenerallyadoptsmuchprocessorsystemsofdislributionbasedoncomputernetworktypeofadopt’ShowthattheservercaD_offerandm

9、onitortarget’senoughinformationthroughthecomputer，Suchas：硼1eposition，thestate，movementandenvironment，ere，Monitorthedetaileddegreesesofinformationdetermineandmonitortargetmovementandenvironmental廿ledetaileddegreesofstates

10、MonitortheinformationandrequireityettimelyaccuratelywhichrequitingthatShiYanofthenetworkisrelativelysmallSoitcanmaketheinformationofmonitoringinordertomonitortheprocedureinrealtimecalculateandhappentomonitotthepictureinf

11、ormationrapidlyOfferrealtimethreedimensionvisualobjectstateandattributechangethatmeltedtopeopleThusmonitorthestateofrobotwhichcarriesoutthisalgorithmSothisthesismergestechnologyoftherobotandvirtualrealitytechnologytogeth

12、erTomovingrobotuncollidelyreachgoalamongdynamicenvironments，AndguaranteethatundertheoptimumconditioninthemutetimeproposedtothebestAuthorplansthemethodinthemutebasedonhereditaryalgorithmimprovedoptimumlyForthemeritandinzu

13、伍eientofbetterresearchalgorithmatthesalnetime11lesisusevirtualrealityadoptvistudandOPENGLtotakeprogrammingAndVCdesignstheinterfaeeofthethreedimensionalnodelandmatedalobject船thedevelopmentenvironment，Whichmaketherobotstat

14、einformationtransfersofscenegivethreedimensionalnodeIandurgethesportsofthreedimensionalmodelThusmonitorthesportstateofrobotwhichcarriesoutthisalgorithmTheKeywords：RobotPathplanningGenedcalalgorithmVirtualmonitoringOpenGL