摘要
根据"盲人摸巷"及昆虫"用须探物"的启发,结合物体接触后能产生力的特性,提出基于接触交互信息的机器人导航方法,移动机器人与环境的接触力感觉来自移动机器人的触须,该触须可以是2个多自由度机械臂,其末端装有多维力传感器,或由弹性材料特制而成,达到完成探测、自我定位及局部路径规划任务的目标,是应用图像、光、电磁、声等原理的现有导航方法的很好补充。
In this paper, a method of mobile robot navigation is introduced based on blind man tracing wall, insect exploring thing and the force characteristic of object contacting. The interaction force information between mobile robot and wall comes from the robot antenna, which maybe a multi-DOF manipulator with force sensors or the elastomeric material. Its aim is to complete the survey, selflocalization and the path programming, and it is a good supplement to existing methods such as the image, light, electromagnetism, sound.
出处
《系统仿真技术》
2009年第3期156-160,共5页
System Simulation Technology
基金
南通大学校级资助项目(08R10
07Z048)
关键词
盲人摸巷
接触交互
移动机器人
blind man tracing wall
contact interaction
mobile robot
