基于全向视觉的移动机器人实时全局地图构建

实时全局地图构建是实现移动机器人智能化的关键;研究了一种基于全向视觉的移动机器人全局地图的实时构建方法.首先介绍了全向视觉的体系结构,然后对图像处理软件的相关模块,包括基于颜色的阈值分割、区域连通、特征提取和目标识别等进行了说明,最后通过坐标的转换实现全局地图的构建;实验结果表明,由于充分利用了全向视觉的特性,构建的全局地图准确性高、实时性好,完全能够满足移动机器人对环境建模的需要.     

Step sequence planning for a biped robot by means of a cylindrical shape model and a high-resolution 2.5D map

A novel step sequence planning (SSP) method for biped-walking robots is presented. The method adopts a free space representation custom-designed for efficient biped robot motion planning. The method rests upon the approximation of the robot shape by a set of 3D cylindrical solids. This feature allows efficient determination of feasible paths in a 2.5D map, comprising stepping over obstacles and stair climbing. A SSP algorithm based on A^∗-search is proposed which uses the advantages of the aforementioned environment representation. The efficiency of the proposed approach is evaluated by a series of simulations performed for eight walking scenarios.     

4U平行四边形机构的一类新用途——整体设计为两足步行机构

提出了将4U平行四边形机构整体设计为两足步行机构的一类新用途.此类两足步行4U平行四边形机构均由4个构件和4个万向铰组成,能够实现平面运动.根据万向铰布置方式的不同,分为3种构型.在针对构型Ⅰ的前期研究基础之上,应用螺旋理论分析了构型Ⅱ和Ⅲ的自由度,并分别对其进行了运动学分析、步态分析和稳定性分析.此外,还将3种构型的性能与应用作了进一步的分析与比较.运用ADAMS软件建立3种构型的动力学模型,仿真其运动的全过程,验证该类构型及其运动的可行性.制作出2台样机,实现了预期的运动.     

基于Maya关键帧技术的虚拟人行走运动仿真

论文阐述了动画制作中的关键帧方法,人体骨骼关节原理以及分析了人体行走过程的重要特征。在此基础上,作者在Maya软件中运用关键帧技术和逆运动学相结合的方法,详细论述了虚拟人行走动画的制作过程,最终完成人体行走运动的仿真。     

Vehicle Teleoperation Interfaces

Despite advances in autonomy, there will always be a need for human involvement in vehicle teleoperation. In particular, tasks such as exploration, reconnaissance and surveillance will continue to require human supervision, if not guidance and direct control. Thus, it is critical that the operator interface be as efficient and as capable as possible. In this paper, we provide an overview of vehicle teleoperation and present a summary of interfaces currently in use.     

Research on Multi-robot Coordination Searching Ignition Sources Approach

For the purpose of study on forecasting forest fire behavior, a probability approach was presented to search ignition sources by multi-robot coordination. Firstly, the environment map is built based on Bayes rules. Then, the probability searching strategy based on the environment map was designed. Every grid of the searching area was assigned searching expectation value, and robots selected the grid with the highest expectation value as its searching target. The simulation results show the search time reduces greatly, which proves the feasibility and validity of the given algorithm under unknown fire condition.     

The random walking method for the steady linear convectiondiffusion equation with axisymmetric disc boundary

In this article,the random walking method is used to solve the steady linear convection-diffusion equation(CDE)with disc boundary condition.The integral solution corresponding to the random walking method is deduced and the relationship between the diffusion coefficient of CDE and the intensity of the random diffusion motion is obtained.The random number generator for arbitrary axisymmetric disc boundary is deduced through the polynomial fitting and inverse transform sampling method.The proposed method is tested through two numerical cases.The results show that the random walking method can solve the steady linear CDE effectively.The influence of the parameters on the results is also studied.It is found that the error of the solution can be decreased by increasing the particle releasing rate and the total walking time.     

存在滑移和侧滑的轮式移动机器人轨迹跟踪

轮式移动机器人由于存在非完整性约束,其轨迹跟踪有一定挑战性.实际机器人运动中由于轮胎变形或其他原因,往往存在侧滑和滑移,对存在滑移的轮式移动机器人进行了研究,对其建立运动学模型,对存在滑移的轮式移动机器人的轨迹跟踪进行研究.基于Iyapunov函数,提出了轨迹跟踪控制算法,最后使用Matlab进行仿真,证明该控制算法具有快速,精确,全局稳定的良好特性.     

基于光斑室内移动机器人的定位导航技术

现代建筑室内结构日益复杂化,特别是伴随人口老龄化的加剧,家庭安全问题引起人们广泛关注。为了解决室内定位与导航的问题,提出基于光斑室内移动机器人的定位与导航技术,依靠机器人自带红外发射装置与外带摄像头相结合,实现室内情况下对机器人的精确定位与准确导航,并且可以广泛应用于扫地机器人、家庭监控机器人等家庭服务机器人,为实现机器人自动路径规划、自动充电、自动巡航、自动避障等功能提供保障。     

一种基于迭代学习的移动机器人轨迹跟踪控制方法

机器人迭代学习在某些场合下有着重要的应用。传统的P型或PD迭代学习需要较长的迭代过程,本文提出了一种具有快速收敛的迭代学习策略。在给出的轮式移动机器人运动学模型基础上进行了仿真,结果证明了策略的有效性。