基于網(wǎng)絡的多操作者多機器人協(xié)作研究.pdf

1、上海大學碩士學位論文基于網(wǎng)絡的多操作者多機器人協(xié)作研究姓名：胡虧又申請學位級別：碩士專業(yè)：計算機系統(tǒng)結構指導教師：陳一民20070101上海大學碩士學位論文ABSTRACTThemaingoalofthispaperistofindawayformultioperatormultirobotcollaborationbasedonnetworLThepaperrealizesavirtualsystemofdoubleoperatord

2、oublerobotcooperativecontr01Withthehclpofthesystemtwooperatorscouldd0thejobofdoublerobotcooperativeobject’SconveyingorpassmgunderthecondirionofconstrainedOrunconstrainedcollaborationFirst，thepaperstudiestheknowledgeofOpe

3、nGLmachinegcometrymodelingandkinematicssimulationofrobotsandexplainshowtousethecomputertechniquetoachievethesimulationofrobotsanduseofVRMLforexternalrobotrepresentationindetailThenthepaperintroducesACEwhichisanewinfi船tru

4、ctureofnetworkcommunicationPro乒ammingandexphinshowtousctheACEBasedonthismodule，theprocessofsimulationofmultioperatormultirobotcollaborationisanalyzedandcoordinatedstrategiesareproposedtosolvetheconstrainedandunconstraine

5、dcollaborationoftherobots(1)Undertheconditionofconstrainedcollaborationthepaperproposesthatrobotsshouldtaketheroleofmaster／slaveandthesystemcandeductthemovingpathofrobot’Sa皿accoidingtothemovmgpathoftheobjectheldbymulti—r

6、obotwiththeheIpofinversedisplacementalgorithm(2)Undertheconditionofunconstrainedcollaborationthepaperproposesthatatimestampshouldbeaddedoneachcommandtosolvethesequenceproblemofcommandsand“rollback’actionshouldbetakentode

7、alwiththecemmandswhichmayresultindangerousconsequenceThesimulationsystemofvirtualmultirobotcooperativecontrolwhichadoptsthecoordinatedstrategiesmakesiteasyfortheoperatorsindifferentareastodotcleoperationonrobotsthroughne

8、tworkandfulfillthetasklikecooperativeconveyingandobject’spassingFurthermore，someothermodulesofgraphicsimulationsystemofvirtualmultimbotcooperativecontrol，such鵲collisiondetectingmoduleandinformationfccdbackmodulebasedonau

9、gmentedrealitytechniquehavebeendescribedindetailThroughAABBarithmeticandthedatastructureoflinkedtableofboundingboxesproposedbythispaperwedesignandcompleteaquickandefficientcollisiondetectionmoduleofFaphicsimulationsubsys