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《机器人技术与应用》1998,(4):25-26
近年,在温室内种植蔬菜的面积逐年增加,劳动量越来越大,而温室内由于面积小,使用一般农业机械比较困难,再加上室内温度高、湿度大、地方狭窄、活动受限制、劳动条件很差,为改善劳动条件、提高生产效率、开发温室内移动机器人成为当务之急。 一般的移动机器人的导航多采用光、电,超声波等的引导方式,而温室内由于地面土质松软、凸凹不平,又加上有茂盛的茎叶遮挡,所以引导方式得不到良好的行走性能,为此温室内移动机器人的行走装置带有自动位置修正功能。 下面介绍几种温室内移动机器人。 一、垄栽培用移动机器人 机器人的行走装置是自立行走的移动车。正常行走时,车的前后轮均在垄沟内,如有偏移,车的前轮会爬上坡度为40°的垄台,这时前后车轴之间产生扭转角,利用这个扭转角控制车辆行走方向。试验表明,即便前轮走上坡度为40°的垄台,经过大约1.8m之后,也能完 相似文献
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移动机器人即时定位与地图创建问题研究 总被引:26,自引:2,他引:26
基于环境特征的移动机器人即时定位与地图创建是机器人领域的开放性课题.本文从环境特征提取、定位与地图创建、数据相关三个方面对移动机器人即时定位与地图创建问题进行了综述.对移动机器人定位问题作了概述.探讨了室内环境下特征提取方法.详细地论述了定位与地图创建中面临的主要问题及其解决方法;阐述了数据相关问题的基本思想.最后,根据近期文献指出了该领域今后的研究方向.
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针对矿井地貌环境的非结构性和复杂性,为了提高救灾机器人的越障能力和实际救援能力,分析了轮式救援机器人行走系统的力学系统原理,提出了机器人六轮行走机构的设计方案。六轮移动机器人采用电动推杆为升降系统提供动力;采用独立悬挂系统,减小了车身的倾斜和震动;采用集中控制-分布驱动方式,有利于运动机构性能的发挥;能够根据地形特征调整自己的底座结构,有很强的越障能力和对非结构化地形的适应能力。 相似文献
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针对矿井地貌环境的非结构性和复杂性,为了提高救灾机器人的越障能力和实际救援能力,分析了轮式救援机器人行走系统的力学系统原理,提出了机器人六轮行走机构的设计方案。六轮移动机器人采用电动推杆为升降系统提供动力;采用独立悬挂系统,减小了车身的倾斜和震动;采用集中控制-分布驱动方式,有利于运动机构性能的发挥;能够根据地形特征调整自己的底座结构,有很强的越障能力和对非结构化地形的适应能力。 相似文献
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轮式移动机器人曲线行走控制的实现 总被引:1,自引:0,他引:1
从实用的角度出发,对轮式移动机器人沿曲线轨迹行走的控制进行了研究。设计了电机伺服控制系统和定位模块来实现机器人的运动控制系统功能,并基于移动机器人动力学模型设计了稳定有效的曲线行走控制算法。机器人沿抛物线和椭圆轨迹行走的实验结果表明,移动机器人曲线行走控制的硬件结构和软件功能是可行实用的,该户外轮式移动机器人运动控制系统的结构设计和功能设计符合实用要求,具有一定的应用价值。 相似文献
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用改进的ART-2网络建立移动机器人环境模型的研究 总被引:2,自引:0,他引:2
本文应用自适应共振理论中ART-2 神经网络进行移动机器人环境障碍模式识别.ART-2 神经网络在处理单方向渐变的模式输入时具有模式漂移的特点,机器人在静态环境中运动依赖这种特点,但在动态环境中模式漂移的特点却会对机器人的安全造成威胁.为此,设计了一种改进的ART-2 神经网络,使得移动机器人同时适应在静态和动态环境中安全运动.
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移动机器人环境认知理论与技术的研究 总被引:11,自引:0,他引:11
未知环境中的移动机器人只具有较少的先验知识,因此对环境的认知是实现环境建模、定位、规划、行动等自主导航控制的基本前提.移动机器人的认知理论与方法研究涉及计算机科学、人工智能!认知心理学、神经学、仿生学等领域,是新兴的交叉学科---认知科学的一项重要前沿研究项目.本文介绍了移动机器人的环境感知技术与理论研究的现状,并从认知理论与方法出发,总结了有待进一步研究的相关问题. 相似文献
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在环境认知的动态避障过程中,除了预期不确定性事件,移动机器人还可能会遇到非预期不确定性事件.如何高效、灵活地应对非预期不确定性事件是移动机器人动态避障中面临的一个重要挑战.目前关于这方面的研究相对较少,且基于这些研究的移动机器人普遍缺乏自主学习能力,难以快速、灵活地应对突变的外部环境.鉴于此,首先,设计一个新的碰撞危险度指标,该指标不仅考虑障碍物的距离,同时也考虑障碍物速度对移动机器人运动的影响.模拟人脑中乙酰胆碱和去甲肾上腺素在应对环境不确定性时的反应机理,通过碰撞危险度指标引导移动机器人的注意力网络在关注预期刺激的背侧注意力网络和关注新刺激的腹侧注意网络之间切换,使得机器人灵活应对环境中的不确定性事件;然后,设计新的神经元学习率,以增强调节发育网络隐含层神经元的学习能力,提高机器人应对突变环境的快速响应能力;接着,修改突触权值更新规则,以提高移动机器人行为决策的准确性;最后,通过在两种不同场景下的仿真实验以及物理环境中的实验,验证所提出的应对环境中非预期不确定性事件的移动机器人调节发育学习方法的可行性. 相似文献
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Wesub Eom Jaehyun Park Jangmyung Lee 《International Journal of Control, Automation and Systems》2010,8(5):1082-1090
A new area expansion algorithm for the localization scheme, using temporary beacons, is proposed in this paper. The effective
area of the active beacons is limited by the strength of the ultrasonic signals in a noisy environment. When a mobile robot
needs to move into a hazardous area or into an unstructured environment where the beacons with pre-specified position information
are not available, the localization may solely rely on dead reckoning sensors such as encoders. To overcome the error accumulation
by using dead-reckoning, a new scheme is developed, in this paper, in which the mobile robot carries a few temporary beacons
which do not have any pre-stored position information. When the mobile robot encounters a dangerous or unstructured environment,
it utilizes the temporary beacons to localize itself. An auto-calibration algorithm has been developed to provide the position
information to the temporary beacons before they are used for the localization. With these temporary beacons and the auto-calibration
algorithm, mobile robots can safely pass unstructured areas. The effectiveness of the temporary beacons and auto-calibration
algorithm is verified through real experiments of mobile robot navigation. 相似文献
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Kai-Tai Song Chang C.C. 《IEEE transactions on systems, man, and cybernetics. Part B, Cybernetics》1999,29(6):870-880
A reactive navigation system for an autonomous mobile robot in unstructured dynamic environments is presented. The motion of moving obstacles is estimated for robot motion planning and obstacle avoidance. A multisensor-based obstacle predictor is utilized to obtain obstacle-motion information. Sensory data from a CCD camera and multiple ultrasonic range finders are combined to predict obstacle positions at the next sampling instant. A neural network, which is trained off-line, provides the desired prediction on-line in real time. The predicted obstacle configuration is employed by the proposed virtual force based navigation method to prevent collision with moving obstacles. Simulation results are presented to verify the effectiveness of the proposed navigation system in an environment with multiple mobile robots or moving objects. This system was implemented and tested on an experimental mobile robot at our laboratory. Navigation results in real environment are presented and analyzed. 相似文献
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自主式微小型移动机器人群体面临的一些环境常常是未知的、无结构的,同时由于其
自身体积大小的限制,在目前的工业水平上也很难在其上安装一些较为先进的传感器,以致
机器人仅能获取局部的信息,这些原因使得采用传统基于任务的设计方法将十分困难,而采
用基于行为的设计方法时,也很难保证所设计的机器人行为的有效性,为此本文采用了遗传
算法,随机产生了机器人群体中各初始个体的障碍物回避行为及机器设备故障排除行为,当
群体在特定的工作环境中仿真运行时,根据环境的情况和所需实现的任务,使群体行为性能
达到了较为优化的目的. 相似文献
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运动目标跟踪技术是未知环境下移动机器人研究领域的一个重要研究方向。该文提出了一种基于主动视觉和超声信息的移动机器人运动目标跟踪设计方法,利用一台SONY EV-D31彩色摄像机、自主研制的摄像机控制模块、图像采集与处理单元等构建了主动视觉系统。移动机器人采用了基于行为的分布式控制体系结构,利用主动视觉锁定运动目标,通过超声系统感知外部环境信息,能在未知的、动态的、非结构化复杂环境中可靠地跟踪运动目标。实验表明机器人具有较高的鲁棒性,运动目标跟踪系统运行可靠。 相似文献
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Marcel Häselich Marc Arends Nicolai Wojke Frank Neuhaus Dietrich Paulus 《Robotics and Autonomous Systems》2013,61(10):1051-1059
Autonomous navigation in unstructured environments is a complex task and an active area of research in mobile robotics. Unlike urban areas with lanes, road signs, and maps, the environment around our robot is unknown and unstructured. Such an environment requires careful examination as it is random, continuous, and the number of perceptions and possible actions are infinite.We describe a terrain classification approach for our autonomous robot based on Markov Random Fields (MRFs ) on fused 3D laser and camera image data. Our primary data structure is a 2D grid whose cells carry information extracted from sensor readings. All cells within the grid are classified and their surface is analyzed in regard to negotiability for wheeled robots.Knowledge of our robot’s egomotion allows fusion of previous classification results with current sensor data in order to fill data gaps and regions outside the visibility of the sensors. We estimate egomotion by integrating information of an IMU, GPS measurements, and wheel odometry in an extended Kalman filter.In our experiments we achieve a recall ratio of about 90% for detecting streets and obstacles. We show that our approach is fast enough to be used on autonomous mobile robots in real time. 相似文献
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《Robotics and Autonomous Systems》2005,50(1):1-11
This paper presents a signal processing architecture for a sensory–motor system based on the smart sensor paradigm. The architecture is designed for an obstacle avoidance task by a mobile robot in an unstructured environment. Drawing inspiration from the field of behavior-based robotics, the development of the architecture is guided by an emphasis on the requirements of an obstacle avoidance behavior for a mobile robot. The architecture is simple enough for a smart sensor, but incorporates features which enable it to deal with realistic, unstructured environments. It differs from existing systems by using a special foveation scheme to facilitate the detection of real-world objects. From this, a motor control signal is produced by using a biologically inspired technique of aligning sensory and motor maps. The effectiveness of the architecture is explored through computer simulation, including an obstacle avoidance simulation in a 3D virtual environment. 相似文献
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Roball, the Rolling Robot 总被引:5,自引:0,他引:5
Designing a mobile robotic toy is challenging work. The robot must be appealing to children and create interesting interactions while facing the wide variety of situations that can be experienced while playing with a child, and all at a reasonable cost. In this paper we present Roball, a ball-shaped robot that moves by making its external spherical shell rotate. Such design for a mobile robotic toy shows robustness in handling unstructured environments and unconstrained interactions with children. Results show that purposeful movements of the robot, its physical structure and locomotion dynamics generate interesting new games influenced by the environment and the child. 相似文献