摘要
针对移动机器人越障问题,构建预测模型。对四轮驱动移动机器人在三类不同障碍物条件下的越障情况进行了分析。运用虚拟样机动力学仿真软件ADAMS构建四轮驱动移动机器人参数化模型,并构建矩形障碍、广义障碍和斜坡障碍的参数化模型,从而组成参数化预测平台。通过该平台可以在三维计算机仿真环境下观察并预测移动机器人在矩形障碍、广义障碍和斜坡障碍等不同障碍条件下的越障能力,结合绘制的速度、加速度及驱动转矩等曲线可以分析越障过程中可能出现的问题。
In order to predict the crossover ability of 4×4 mobile robots , the surmounting analysis of mobile robots under three type obstacles were made and parametric models of the mobile robots and obstacles were created using ADAMS. The 3D simulations showed that it is convenience to inspect the crossover process of the mobile robot in such obstacles as rectangular obstacles, general obstacles and slope obstacles. Moreover, it is convenience to find surmounting problems with curves of simulation results.
出处
《计算机仿真》
CSCD
2005年第7期142-144,共3页
Computer Simulation
关键词
越障
移动机器人
预测
虚拟样机
Surmounting
Mobile robot
Prediction
Virtual prototype
