共查询到19条相似文献,搜索用时 78 毫秒
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由于全方位轮的特殊构造,使得全方位移动机器人沿不同方向运动时具有的最大速度不同,以及在不同方向上的加速性能也不同,称之为各向相异性(anisotropy).为了充分发挥全方位移动机器人的优越性,通过对4轮全方位移动机器人进行运动学、动力学建模,分析了机器人各向相异性,确定了轮系布置与最大速度曲线的相关规律,以及当机器人沿某一方向以一定加速度运动时,不同轮子上驱动电机所需提供的转矩,从而使得机器人加速运动时更好地避免轮子打滑.并且通过Matlab-ADAMS联合仿真以及实际实验,验证了分析结果的正确性.对机器人的各向相异性作了全面系统的研究,从而更清楚地表述了模型特性,为更好地控制全方位移动机器人提供了基础. 相似文献
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基于粒子滤波器的移动机器人定位和地图创建研究进展 总被引:2,自引:0,他引:2
首先,对粒子滤波器的原理和研究进展进行了综述.然后,介绍了基于粒子滤波器的移动机器人定位研究进展.其次,给出了粒子滤波器在移动机器人地图创建领域的最新成果.最后,对粒子滤波器在移动机器人研究领域的未来发展方向进行了展望. 相似文献
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基于地平面假设的移动机器人单路视觉运动估计存在鲁棒性和环境适应性较差、精度较低等缺
点,针对这一问题,本文首先介绍了拟全方位视觉系统的构成,并结合该视觉系统的特点给出了一种基于两
步运动的摄像头平行位姿参数标定方法.然后据此提出了一种基于拟全方位视觉的自主移动机器人自运动融
合估计方法.该方法能够借助机器人的非完整运动约束、地平面运行假设以及运动估计参数之间的相容性测
度等多种因素,对拟全方位视觉系统中的各路视觉估计进行性能综合评价;最终依据评价结果融合确定出具
有较高可信度和较强鲁棒性的运动估计参数.实验结果从鲁棒性、精度以及实时性等方面验证了本算法的有
效性. 相似文献
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一种移动机器人超声波导航系统 总被引:13,自引:0,他引:13
本文设计了一种用于移动机器人的超声波导航系统,介绍了系统的工作原理及结构,
并进行了样车实验.实际的导航实验表明:系统可用于室内结构环境中的移动机器人导航. 相似文献
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本文介绍了全方位壁面移动机器人的运动控制问题,文中讨论了爬壁机器人的运动力学正问题和运动学逆问题,并在此基础上建立了基于笛卡尔空间坐标的分解运动速度控制,给了了这种控制策略的PID调节器的参数选取以及仿真结果。 相似文献
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移动式作业型智能服务机器人的研制 总被引:4,自引:0,他引:4
本文介绍了国家863计划项目移动式作业型智能服务机器人的总体设计思想,并对课题当中的一些关键技术,如新型全方位移动机构、七自由度机器人作业手臂,和多传感器信息融合的机器人路径规划等问题进行了总结,最后给出了移动机器人的系统控制方案。 相似文献
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针对移动机器人路径规划与导航的实际应用,设计了一个基于全景视觉的移动机器人路径规划导航系统.首先,对导航系统的体系结构和功能进行描述.然后,分别就如何采用全景视觉传感器进行环境探索与地图创建,基于回归神经网络的广度优先搜索法和Voronoi骨架图法两种路径规划算法原理,以及如何实现按规划路径实施导航这三个方面进行了详细阐述.最后,结合实际机器人进行导航实验,评估导航系统的性能和路径规划算法的有效性. 相似文献
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《Robotics, IEEE Transactions on》2009,25(3):738-743
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刘丽梅 《计算机应用与软件》2004,21(5):127-128,F003
传统全方位多级组合滤波法在抑制噪声的同时会严重模糊图像,通过分析该问题产生的原因,提出了一种改进的滤波方法,该方法先对图像象素进行是否为边缘点、孤立噪声点或平滑区域点的预判断,然后再根据判断结果分别进行处理。实验结果表明,该方法能很好地保留图像边缘细节信息,取得了较好的处理效果。 相似文献
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An AWSN composed of bird-sized Unmanned Aerial Vehicles (UAVs) equipped with sensors and wireless radio, enables low cost high granularity three-dimensional sensing of the physical world. The sensed data is relayed in real-time over a multi-hop wireless communication network to ground stations. In this paper, we investigate the use of a hybrid antenna to accomplish efficient neighbor discovery and reliable communication in AWSNs. We propose the design of a hybrid Omni Bidirectional ESPAR (O-BESPAR) antenna, which combines the complimentary features of an isotropic omni radio (360° coverage) and directional ESPAR antennas (beamforming and reduced interference). Control and data messages are transmitted separately over the omni and directional modules of the antenna, respectively. Moreover, a communication protocol is presented to perform neighbor UAVs discovery and beam steering. We present results from an extensive set of simulations. We consider three different real-world AWSN application scenarios and employ empirical aerial link characterization to demonstrate that the proposed antenna design and protocol reduces the packet loss rate and end to end delay by up to 54% and 49% respectively, and increases the goodput by up to 33%, as compared to a single omni or ESPAR antenna. 相似文献
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针对传统全方位多级组合滤波器在去除噪声的同时,会严重模糊图象边缘这一问题,分析了其原因,并指出为了更准确地判断出边缘细节信息,应考虑转角线条走向等特殊情况。提出了一种在去除噪声的同时,可以很好的保持图象边缘细节信息的改进的全方位多级组合滤波算法,实验结果表明,该算法在去除噪声的同时,能更好地保持图象边缘细节,取得较好的处理效果。 相似文献
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Gunnar Johannsen 《Journal of Intelligent and Robotic Systems》2001,32(2):161-169
Auditory displays are developed and investigated for mobile service robots in a human–machine environment. The service robot domain was chosen as an example for future use of auditory displays within multimedia process supervision and control applications in industrial, transportation, and medical systems. The design of directional sounds and of additional sounds for robot states as well as the design of more complicated robot sound tracks are explained. Basic musical elements and robot-movement sounds are combined. Experimental studies on the auditory perception of directional sounds as well as of sound tracks for the predictive display of intended robot trajectories in a simulated supermarket scenario are described. 相似文献
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A new practical iterative learning control (ILC) updating law is proposed to improve the path following accuracy for an omni‐directional autonomous mobile robot. The ILC scheme is applied as a feedforward controller to the existing feedback controller. By using the local symmetrical double‐integral of the feedback control signal of the previous iteration, the ILC updating law takes a simple form with only two design parameters: the learning gain and the range of local integration. Convergence analysis is presented together with a design procedure. Simulation results on a difficult maneuver are presented to illustrate the effectiveness of the proposed simple and yet practical scheme. The simulation is based on the model of a novel robotic platform, the Utah State University (USU) Omni‐Directional Vehicle (ODV), which uses multiple “smart wheels,” whose speed and direction can be independently controlled through dedicated processors for each wheel. 相似文献
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《Robotics and Autonomous Systems》2014,62(4):474-486
Real time path planning for mobile robots requires fast convergence to optimal paths. Most rapid collision free path planning algorithms do not guarantee the optimality of the path. In this paper we present a Guided Autowave Pulse Coupled Neural Network (GAPCNN) approach for mobile robot path planning. The proposed model is a novel approach that improves upon the recently presented Modified PCNN (MPCNN) by introducing directional autowave control and accelerated firing of neurons based on a dynamic thresholding technique. Simulation studies and experimental results in both static as well as dynamic environments confirm GAPCNN to be a robust and time efficient path planning scheme for finding optimal paths. 相似文献