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.
[1] Burdea G.The synergy between virtual reality and robotics[J].IEEE Transactions on Robotics and Automation,1999,15(3):400 -410.
[2] Muir P F,Neuman C P.Kinematic modeling of wheeled mobile robots[J].Journal of Robotic Systems,1987,4(2):281 -340.
[3] Alexander J C,Maddocks J H.On the kinematics of wheeled mobile robots[J].The International Journal of Robotics Research,1989,8(5):15 -27.
[4] Tarokh M,McDermott G,Hayati S,et al.Kinematic modeling of a high mobility Mars rover[A].Proceedings of the IEEE International Conference on Robotics and Automation[C].Piscataway,NJ,USA:IEEE,1999.992-998.
[5] Miller D P,Lee T L.High-speed traversal of rough terrain using a Rocker-Bogie mobility system[A].Proceedings of Space 2002 and Robotics 2002[C].Reston,VA,USA:ASCE,2002.428-434.
[6] Tarokh M,McDermott G J.Kinematics Modeling and Analyses of Articulated Rovers[J].IEEE Transactions on Robotics,2005,21(4):539 -553.
[7] Chang Y,Tan D L,Wang H G,et al.Kinematics analysis of a six-wheeled mobile robot[A].Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems[C].Piscataway,NJ,USA:IEEE,2006.4169 -4174.
[8] 刘伟军,朱枫,董再励.虚拟现实辅助机器人遥操作技术研究[J].机器人,2001,23(5):385-390.