基于Matlab和VR技术的移动机器人建模及仿真

Dynamic modeling and simulation of mobile robot based on matlab and VR technology

利用Matlab建立移动机器人的动力学模型,在虚拟现实(VR)环境下,实时仿真移动机器人路径跟踪的运动特性,为基于Internet的机器人遥操作试验搭建了仿真平台.实验结果表明,虚拟模型准确地模拟了真实移动机器人的动力学特征;通过对模型的参数修改,为实现对真实机器人的最优控制和设计提供了可信的参考方案.

This paper proposes an approach that develops a dynamic model of a mobile robot taking advantage of the Matlab. Meantime, in a developed virtual reality environment, the built model simulates the motion of path tracking and obstacle avoidance. Furthermore, it provides a platform for experiments of mobile robot teleoperation. The experimental results approve that, the virtual model represents the dynamic properties of real robot accurately and, with the change of parameters of the virtual model, it helps to find out the optimization methods of controlling and designing the mobile robot indeed.