摘要
为了提高遥操作机器人的实用性和高效性,设计与开发了一种基于无线网络的无路标未知环境下探索移动机器人系统,其包括移动机器人子系统和机器人远程状态监视子系统.根据机器人功能需求,提出一种多控制器协作及多传感器信息融合的移动机器人硬件结构.利用机器人实时定位和激光测距扫描的能力,提出了一种改进的VFH算法,进行机器人自主局部路径规划.机器人远程状态监视子系统通过无线网络设定机器人的目标点,实时监视机器人状态,并绘制机器人所探索的环境地图.实验表明,开发的探索移动机器人系统具备了在未知环境探索的能力.
To improve the practicality and efficiency of telerobotics,the authors developed a mobile robot system which uses a wireless network.This allows robots to explore environments without known landmarks.The system consists of two subsystems,the mobile robot itself and the remote state monitoring system.Based on the functional requirements,a hardware structure was proposed with multi-controller cooperation and muliti-sensor information fu-sion.An improved vector field histogram （ VFH） algorithm was presented.This gave the robot the ablility to do re-al-time location and laser ranging.The remote state monitoring subsystem served as an interface,giving target data to the robot via the wireless network.It also monitored the state of the robot in real-time,building up a map of the remote enviroment explored by the robot.Experimental results showed that this system performs well when exploring unknown environments.
出处
《智能系统学报》
2010年第3期240-246,共7页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金资助项目(60874042)
