摘要
介绍了采用虚拟样机技术建立主动适形移动机器人(Active Terrain Adaptive Vehicle,ATAV)联合仿真平台的设计过程。并以轮-履带-腿式复合型移动机器人为例,在联合仿真平台上对ATAV自主导航控制策略进行仿真研究,提出了基于包容结构的ATAV自主导航控制算法。仿真实验结果验证了控制算法的有效性。
The design process of associated simulation platform for active terrain adaptive vehicle （ATAV） based on virtual prototype was introduced. Based on the simulation platform, the autonomous navigation strategy was investigated, which took wheel-track-leg compound mobile robot as an example. The navigation algorithm of ATAV using subsumption architecture was proposed, The simulation results show the validity of the algorithm.
出处
《系统仿真学报》
EI
CAS
CSCD
北大核心
2007年第4期754-757,761,共5页
Journal of System Simulation
基金
面向21世纪教育振兴行动计划
关键词
适形移动机器人
虚拟样机
自主导航
包容结构
terrain adaptive vehicle
virtual prototype
autonomous navigation
subsumption architecture
