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.