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一种欠驱动移动机器人运动模式分析
Alternative TitleAnalysis of a Underactuated Mobile Robot Moving Mode
李艳杰; 马岩; 钟华; 吴镇炜; 隋春平
Department机器人学研究室
Source Publication自动化与仪表
ISSN1001-9944
2013
Issue9Pages:8-11
Contribution Rank2
Funding Organization国家科技支撑计划项目(2013BAK03B01,2013BAK03B02)
KeywordAvr单片机 欠驱动移动机器人 越障模式
Abstract介绍了一种欠驱动移动机器人的机械结构。分析了该欠驱动移动机器人在平地行进模式的特点,提出一种越障控制模式。在该越障控制模式中加入了障碍物高度计算算法,使得移动机器人在越障过程中的智能控制更加高效。利用VB编写控制程序人机界面,在移动机器人实物平台上进行了实验,实验结果证明了控制方法的有效性。
Other AbstractThe mechanical structure of a kind of underactuated mobile robot was described in this paper. The characteristics of the underactuated mobile robot in the plains traveling mode was analyzed and a kind of obstacle-negotiation control mode was proposed. Due to calculate algorithm of obstacle’s height was added to the obstacle-negotiation control mode,the intelligent control of obstacle-negotiation becomes more efficient. The control procedure HMI was programmed by VB and the experiment was performed on the mobile robot platform. Experiment results show the control method was effective.
Language中文
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/14044
Collection机器人学研究室
Affiliation1.沈阳理工大学机械工程学院
2.中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
李艳杰,马岩,钟华,等. 一种欠驱动移动机器人运动模式分析[J]. 自动化与仪表,2013(9):8-11.
APA 李艳杰,马岩,钟华,吴镇炜,&隋春平.(2013).一种欠驱动移动机器人运动模式分析.自动化与仪表(9),8-11.
MLA 李艳杰,et al."一种欠驱动移动机器人运动模式分析".自动化与仪表 .9(2013):8-11.
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