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| 基于遥操作和局部自主的移动机器人越障 | |
| 引用本文： | 熊光明,徐正飞,高峻峣,黄志敏.基于遥操作和局部自主的移动机器人越障[J].计算机测量与控制,2006,14(2):193-195. |
| 作者姓名： | 熊光明 徐正飞 高峻峣 黄志敏 |
| 作者单位： | 1. 北京理工大学机械与车辆工程学院,北京,100081 2. 天津军事交通学院汽车工程系,天津,300636 3. 北京理工大学机电工程学院,北京,100081 |
| 摘 要： | 根据任务需要，研制了具有翻倒恢复功能的关节履带式移动机器人；构建了基于网络通信的遥操作系统，通过人机交互界面完成终端对移动机器人的遥控操作，鉴于履带式移动机器人开环控制的不足，提出遥操作和局部自主控制的翻倒恢复控制方法；实验表明，提出的方法在移动机器人实际作业中有效可行。 |
| 关 键 词： | 遥操作 局部自主 移动机器人 |
| 文章编号： | 1671-4598（2006）02-0193-03 |
| 收稿时间： | 2005-07-18 |
| 修稿时间： | 2005-08-24 |
Overcoming Obstacles of Mobile Robots Based on Teleoperation and Locally Autonomous Control |
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| Xiong Guangming,Xu Zhengfei,Gao Junyao,Huang Zhimin.Overcoming Obstacles of Mobile Robots Based on Teleoperation and Locally Autonomous Control[J].Computer Measurement & Control,2006,14(2):193-195. | |
| Authors: | Xiong Guangming Xu Zhengfei Gao Junyao Huang Zhimin |
| Affiliation: | 1. School of Mechanical and Vehicular Engineering, Beijing Institute of Technology, Beijing 100081, China; 2. Department of Automotive Engineering, Tianjin Military Transport College, Tianjin, 300636; 3. School of Mechanical and Electronic Engineering, Beijing Institute of Technology, Beijing 100081, China |
| Abstract: | An articulated mobile robot which can turn itself over when the robot is tipped in the running is developed. The teleoperation system based on web is designed to control the robot using human-computer interactive interface. In view of the drawbacks of open loop control for tracked robots, locally autonomous control and teleoperation are combined to fulfill the overcoming obstacles. The example shows that the proposed method is effective for the stated problem. |
| Keywords: | teleoperation locally autonomous mobile robots |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ | |