| 移动机器人四杆地形感知机构的设计 |
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| 引用本文： | 徐正飞,杨汝清,翁新华. 移动机器人四杆地形感知机构的设计[J]. 机械工程学报, 2003, 39(4): 44-48 |
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| 作者姓名： | 徐正飞 杨汝清 翁新华 |
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| 作者单位： | 上海交通大学机器人研究所,上海,200030 |
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| 基金项目： | 国家自然科学基金(69975014)，中科院沈阳自动化所机器人学开放研究实验室资助项目 |
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| 摘 要： | 根据四杆机构的运动特性,结合城区和建筑内地形环境的特点设计了一种移动机器人四杆地形感知机构——TTSMS。通过对凸形地形的定义,描述了TTSMS对地形感知的原理和方法。它能够精确、可靠的感知地形,基本不受环境的干扰,能够直接获取障碍的特征,解决了移动机器人在三维地形环境中运动时障碍的实时感知问题。
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| 关 键 词： | 移动机器人 地形感知 越障 地形感知机构/传感器 |
| 修稿时间： | 2001-08-14 |
DESIGN OF FOUR-LINK TERRAIN PERCEPTIONAL MECHANISM FOR MOBILE ROBOT |
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| Xu Zhengfei Yang Ruqing Weng Xinhua. DESIGN OF FOUR-LINK TERRAIN PERCEPTIONAL MECHANISM FOR MOBILE ROBOT[J]. Chinese Journal of Mechanical Engineering, 2003, 39(4): 44-48 |
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| Authors: | Xu Zhengfei Yang Ruqing Weng Xinhua |
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| Affiliation: | Shanghai Jiaotong University |
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| Abstract: | A type of four-link terrain perceptional mechanism, TTSMS, is designed using the motion principle of four-link lever mechanism and combing the characteristics of terrain environment of urban area and building. Describing the principle and method of sensing terrain by defining the convex-shape obstacle. It is capable of sensing the terrain rapidly and reliably, not almost suffering from disturbance of real world, and measuring the type of obstacles directly. The key problem of perception of obstacle in real time for mobile robot moving in three-dimensional terrain enuironment is resolved. |
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| Keywords: | Mobile robot Terrain perception Obstacle negotiation Terrain tentative sensing mechanism/sensor |
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