Simulation of Mutual Motion between Wheeled Mobile Robots and Terrains
HE Yong-zhi1,2, LIU Wei-jun1, ZHOU Chuan1, CHANG Yong1,2, TAN Da-long1
1. Robotics Laboratory, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100049, China
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. ROBOT, 2007, 29(5): 498-504..
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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