和永智, 刘伟军, 周船, 常勇, 谈大龙. 轮式移动机器人与地形交互运动仿真研究[J]. 机器人, 2007, 29(5): 498-504.
引用本文: 和永智, 刘伟军, 周船, 常勇, 谈大龙. 轮式移动机器人与地形交互运动仿真研究[J]. 机器人, 2007, 29(5): 498-504.
HE Yong-zhi, LIU Wei-jun, ZHOU Chuan, CHANG Yong, TAN Da-long. Simulation of Mutual Motion between Wheeled Mobile Robots and Terrains[J]. ROBOT, 2007, 29(5): 498-504.
Citation: HE Yong-zhi, LIU Wei-jun, ZHOU Chuan, CHANG Yong, TAN Da-long. Simulation of Mutual Motion between Wheeled Mobile Robots and Terrains[J]. ROBOT, 2007, 29(5): 498-504.

轮式移动机器人与地形交互运动仿真研究

Simulation of Mutual Motion between Wheeled Mobile Robots and Terrains

  • 摘要: 分析了轮式移动机器人(WMR)在不平坦的三维地形上运动的运动学模型.利用速度投影法,得到了WMR运动模型的一种新形式.基于虚拟现实技术,利用VC++OpenGL实现了WMR虚拟漫游系统.该系统具有较强的交互性和实时性,为星球探测机器人的虚拟导航、遥操作等提供了验证平台.

     

    Abstract: This paper analyzes a kinematics model for a WMR(wheeled mobile robot) traversing a 3-D uneven terrain.A new kinematics model for WMR is deduced with velocity projection.Based on virtual reality,a virtual roving system for WMR is realized with VC++ OpenGL.With its strong interactive and real-time characteristics,the system provides the planetary exploration rovers with a verification platform for virtual navigation and teleoperation.

     

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