智能自动移动机器人系统研究中英文外文文献翻译Word文档下载推荐.docx
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智能自动移动机器人系统研究中英文外文文献翻译Word文档下载推荐.docx
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原文
Theinvestigationofanautonomousintelligentmobilerobotsystemforindoorenvironmentnavigation
SKarelin
Abstract
TheautonomousmobileroboticssystemdesignedandimplementedforindoorenvironmentnavigationisanonholonomicdifferentialdrivesystemwithtwodrivingwheelsmountedonthesameaxisdrivenbytwoPIDcontrolledmotorsandtwocasterwheelsmountedinthefrontandback
respectively.ItisfurnishedwithmultiplekindsofsensorssuchasIRdetectors,ultrasonicsensors,laserlinegeneratorsandcameras,constitutingaperceivingsystemforexploringitssurroundings.Itscomputationsourceisasimultaneouslyrunningsystemcomposedofmultiprocessorwithmultitaskandmultiprocessingprogramming.Hybridcontrolarchitectureisemployedonthermbilerobottoperformcomplextasks.ThemobilerobotsystemisimplementedattheCenterforIntelligentDesign,AutomationandManufacturfingofCityUniversityofHongKong.
Keywords:
mobilerobot;
intelligentcontrol;
sensors;
navigationIntroduction
Withincreasinginterestinapplicationofautonomousmobilerobotsinthefactoryandinserviceenvironments,manyinvestigationshavebeendoneinareassuchasdesign,sensing,controlandnavigation,etc.Autonomousreactiontotherealwand,exploringthe
environment,follownngtheplannedpathwnthoutcollisionsandcarrying
outdesiredtasksarethemainrequirementsofintelligentmobilerobots.Ashumans,wecanconducttheseactionseasily.Forrobotshowever,itistremendouslydifficult.Anautonomousmobilerobotshouldmakeuseof
varioussensorstosensetheenvironmentandinterpretandorganizethesensedinformationtoplanasafemotionpathusingsomeappropriatealgorithmswhileexecutingitstasks.Manydifferentkindsofsenorshavebeenutilizedonmobilerobots,suchasrangesensors,light
sensors,forcesensors,soundsensors,shaftencoders,gyroscopes,forobstacleawidance,localization,rmtionsensing,navigationandinternalrmnitoringrespectively.Manypeopleuseinfraredandultrasonic
rangesensorstodetectobstaclesinitsreachingdomain.Laserrangefindersarealsoemployedinobstacleawidancebehaviorofmobilerobotsinclutteredspace.Camerasareoftenintroducedintothevisionsystemformobilerobotnavigation.Althoughmanykindsofsensorsareavailable,sensingdoesn’tmeanperceiving.Themechanicalshapeand
drivingtypearecommonlyfirsttakenintoconsiderationwhile
implementingarmbilerobot.Arobot’sshapecanhaveastrongimpactonhowrobustitis,andDCservermtorsorstepOpermotorsareoftenthetwochoicestoemployasactuators.Theshapeofarobotmayaffectits
configurationsofcomponents,aesthetics,andeventhemovementbehaviorsoftherobot.Animpropershapecanmakerobotrunagreaterriskofbeingtrappedinaclutteredroomoroffailingtofinditswaythrough
anarrowspace.Wechooseanoctahedralshapethathasbothadvantagesofrectangularandcircularshapes,andovercomestheirdrawbacks.Theframeworkoftheoctahedralshapedrobotiseasytomake,componentsinsideareeasilyarrangeandcanpassthroughnarrowplacesandrotatewrathcornersandnearbyobjects,andismoreaestheticinappearance.Theperceptionsubsystemaccomplishesthetaskofgettingvariousdatafromthesurroundings,includingdistanceoftherobotfrom
obstacles,landmarks,etc.Infraredandultrasonicrangesen}rs,laserrangefindersandcamerasareutilizedandmountedonthermbilerobottoachieveperceptionoftheenvironment.Thesesensorsarecontrolled
independentlybysomesynchronouslyrunningmicroprocessorsthatarearrangedwrathdistributivemanner,andactivatedbythemainprocessoronwhichasupervisingprogramruns.Atpresent,infraredandultranicsensors,laserrangefindersareprogrammedtodetectobstaclesand
measuredistanceoftherobotfromobjectsintheenvironment,and
camerasareprogrammedforthepurposeoflocalizationandnavigation.
Thedecision-makingsubsystemisthemostimportantpartofanintelligentmobilerobotthatorganizesandutilizestheinformationobtainedfromtheperceptionsubsystem.Itobtainsreasonableresultsbysomeintelligentcontrolalgorithmandguidesthermbilerobot.Onourmobileroboticsystemintelligenceisrealizedbasedonbehaviourismandclassicalplanningprinciples.Thedecision-makingsystemiscomposedoftwalevelsglobaltaskplanningbasedonknowledgebaseandmapofworkingenvironment,reactivecontroltodealwiththedynamicreal
world.Reactiontasksinthedecision-makingsystemaredecomposedinto
classesofbehaviorsthattherobotexhibitstoaccomplishthetask.Fuzzylogicisusedtoimplementsomebasicbehavior
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- 智能 自动 移动 机器人 系统 研究 中英文 外文 文献 翻译