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水面救助机器人轨迹跟踪方法研究
Alternative TitleTrajectory Tracking Method of Water Rescue Robot
冯迎宾; 于伟经; 李智刚
Department水下机器人研究室
Source Publication计算机测量与控制
ISSN1671-4598
2012
Volume20Issue:5Pages:1360-1362
Indexed ByCSCD
CSCD IDCSCD:4560240
Contribution Rank1
KeywordGoogle Earth 轨迹跟踪 Pid控制 视线法
Abstract为了拓展水面救助机器人的作业范围,使机器人按照预定的轨迹运动,研究了机器人的轨迹跟踪问题;文章提出了将PID算法和视线法相结合,实现了水面救助机器人的轨迹跟踪;开发了基于Google Earth交互平台,利用Windows Hook技术和KML文件实现了在GE地图上目标轨迹的绘制和机器人运动轨迹的绘制,并对轨迹跟踪的误差进行了分析。
Other AbstractThe problem of robot trajectory tracking is researched in order to enlarge the work scope of the water rescue robot,and make the robot move according to the designed trajectory.The paper combined PID algorithms and Line of sight,realized the trajectory tracking of the water rescue robot,and developed the interactive platform based on Google Earth.The trajectory of the target and robot can be drawn on GE map by using Windows Hook technique and KML document.Further,the error of the trajectory tracking is been analysed
Language中文
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Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/9981
Collection水下机器人研究室
Affiliation1.中国科学院沈阳自动化研究所
2.中国科学院研究生院
Recommended Citation
GB/T 7714
冯迎宾,于伟经,李智刚. 水面救助机器人轨迹跟踪方法研究[J]. 计算机测量与控制,2012,20(5):1360-1362.
APA 冯迎宾,于伟经,&李智刚.(2012).水面救助机器人轨迹跟踪方法研究.计算机测量与控制,20(5),1360-1362.
MLA 冯迎宾,et al."水面救助机器人轨迹跟踪方法研究".计算机测量与控制 20.5(2012):1360-1362.
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