摘要
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。
The 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 he drawn on GE map by using Windows Hook technique and KML document. Further, the error of the trajectory tracking is been analyzed.
出处
《计算机测量与控制》
CSCD
北大核心
2012年第5期1360-1362,共3页
Computer Measurement &Control
