| 一处室内轮式自主移动机器人的导航控制研究 |
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| 引用本文： | 李磊, 陈细军, 曹志强, 候增广, 谭民. 一处室内轮式自主移动机器人的导航控制研究. 自动化学报, 2003, 29(6): 893-899. |
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| 作者姓名： | 李磊 陈细军 曹志强 候增广 谭民 |
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| 作者单位： | 1.中国科学院自动化研究所复杂系统与智能科学实验室,北京;;;2.中国科学院高技术产业发展局,北京 |
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| 基金项目： | 国家“8 6 3”计划 (2 0 0 1AA4 2 2 340,2 0 0 2AA4 2 316 0 )，国家自然科学基金 (6 0 2 0 5 0 0 4 )资助~~ |
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| 摘 要： | 介绍了一种室内移动机器人CASIA-I.对该机器人的运动机构做了较为详细地阐述,针对该运动机构给出了机器人的运动方程和一种导航控制算法,并根据该算法进行了软件仿真和实物实验.在软件仿真和实物实验两种环境下,机器人都能够实时避开障碍物奔向目标.仿真和实验表明:该移动平台具有良好的可靠性,且该导航控制算法是一种有效的导航算法.
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| 关 键 词： | 移动机器人 运动机构 导航控制 |
| 收稿时间： | 2002-09-27 |
| 修稿时间： | 2002-09-27 |
Research on the Navigation Control of an Indoor Wheeled Autonomous Mobile Robot |
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| LI Lei, CAO Zhi-Qiang, HOU Zeng-Guang, TAN Min, . Research on the Navigation Control of an Indoor Wheeled Autonomous Mobile Robot. ACTA AUTOMATICA SINICA, 2003, 29(6): 893-899. |
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| Authors: | LI Lei CAO Zhi-Qiang HOU Zeng-Guang TAN Min |
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| Affiliation: | 1. Lab for Complex System and Intelligence Science,Institute of Automation,Chinese Academy of Sciences,Beijing;Bureau of Hi-Tech Industry Development,Chinese Academy of Sciences,Beijing |
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| Abstract: | This paper describes an indoor autonomous wheeled mobile robot CASIA-I we developed. The locomotion system of the robot, besides kinemics equation, navigation algorithm is expounded here. The software simulation and experiment are conducted by the algorithm. Both in the environment of software simulation and in the condition of experiment, the robot can avoid obstacles and navigate itself to the destination in real time. The stability of the platform and effectiveness of the algorithm are demonstrated by means of simulation example and experiment results. |
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| Keywords: | Mobile robot locomotion system navigation control |
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