共查询到19条相似文献，搜索用时 859 毫秒
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A system for mobile robot localization and navigation was presented.With the proposed system,the robot can be located and navigated by a single landmark in a single image.And the navigation mode may be following-track,teaching and playback,or programming.The basic idea is that the system computes the differences between the expected and the recognized position at each time and then controls the robot in a direction to reduce those differences.To minimize the robot sensor equipment,only one omnidirectional camera was used.Experiments in disturbing environments show that the presented algorithm is robust and easy to implement,without camera rectification.The rootmean-square error(RMSE) of localization is 1.4,cm,and the navigation error in teaching and playback is within 10,cm. 相似文献
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ZHUANG Hui-zhong DU Shu-xin WU Tie-jun 《浙江大学学报(A卷英文版)》2006,7(4):516-524
INTRODUCTION Path planning of mobile robots is one of the key issues in robotics research on the problem of a robot finding a collision-free path from beginning to goal in the presence of obstacles. Depending on the envi- ronment surrounding the robot, it can be classified as follows: (1) Path planning for static obstacles in com- pletely known environment; (2) Path planning for static obstacles in un- known or partially known environment; (3) Path planning for dynamic obstacles in com- p… 相似文献
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H. C. Fang S.K.Ong A.Y.C.Nee 《上海大学学报(英文版)》2014,(4):275-288
Intuitive and efficient interfaces for human- robot interaction （HRI） have been a challenging issue in robotics as it is essential for the prevalence of robots supporting humans in key areas of activities. This paper presents a novel augmented reality （AR） based interface to facilitate human-virtual robot interaction. A number of human-virtual robot interaction methods have been for- mulated and implemented with respect to the various types of operations needed in different robotic applications. A Euclidean distance-based method is developed to assist the users in the interaction with the virtual robot and the spatial entities in an AR environment. A monitor-based visualization mode is adopted as it enables the users to perceive the virtual contents associated with different interaction methods, and the virtual content augmented in the real environment is informative and useful to the users during their interaction with the virtual robot. Case researches are presented to demonstrate the successful implementation of the AR-based HRI interface in planning robot pick-and-place operations and path following operations. 相似文献
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A study of the interference simulation based on robot welding of the radar pedestal was carried out by using the
KUKA Sim Pro simulation software and off-line program technology. Compared with the actual robot welding process, it was
found that the trajectory of the simulated robot welding process in line with that recorded in the actual welding process, and the
actual limit and interference appeared at the same place as the simulation process. There was no interference phenomenon on the
outside weld-seam; on the internal weld-seam, especially on the weld-joint of support plate connected to the cylinder, a
phenomenon of interference appeared. It was helpful to use the simulation method to guide the actual robot welding so as to
protect robot from impacting and reduce the weld defects. 相似文献
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The moving principle of a colonoscopic robot is presented in this paper.The robot mainly consists of soft mobile mechanism for earthworm locomotion and turning mechanism based on shape memory effect.The soft mobile mechanism contacts colon wall with air-in inflatable balloons.so the robot has better soft and non-invasive properties.The turning mechanism can be actively bent by shape memory alloy components.It ensures the robot to adapt to the tortuous shape of colon.Therefore,the colonoscopic robot has good safety,lower working strength of surgeon and higher efficiency of colonooscopy. 相似文献
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According to the theory that rotation transformation from the basecoordinate to an arbitrary one can be described by a single equivalent rotation about agiven rotational axis,it is proposed that the orientation of robot can be described by usingthe vector of equivalent angular displacement.And the concept of pose motor and itsPlücker linear coordinate are established and used to describe the position and orientationof robot.Based on the fact that there is a one-to-one correspondence between the ori-ented straight lines in three-dimensional dual space,the interpolation plannings corre-sponding to the pose motors are developed in dual space.A new algorithm of robot CPmotion trajectory planning is presented.The correctness of the theory and derivation isconformed by an example. 相似文献
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A dynamic velocity feed-forward compensation control (DVFCC) approach with RBF neural network (RBF-NN) dynamic model identification was presented for the adaptive trajectory tracking of industrial robots.The proposed control approach combined the advantages of traditional feedback closed-loop position control and computed torque control based on inverse dynamic model.The feed-forward compensator used a nominal robot dynamics as accurate dynamic model and on-line identification with RBF-NN as uncertain part to improve dynamic modeling accuracy.The proposed compensation was applied as velocity feed-forward by an inverse velocity controller that can convert torque signal into velocity in the standard industrial controller.Then,the need for a torque control interface was avoided in the real-time dynamic control of industrial robot.The simulations and experiments were carried out on a gas cutting manipulator.The results show that the proposed control approach can reduce steady-state error,suppress overshoot and enhance tracking accuracy and efficiency in joint space and Cartesian space,especially under highspeed condition. 相似文献
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Path tracking control of autonomous agricultural mobile robots 总被引：3，自引：0，他引：3
ZHU Zhong-xiang CHEN Jun YOSHIDA Toyofumi TORISU Ryo SONG Zheng-he MAO En-rong 《浙江大学学报(A卷英文版)》2007,8(10):1596-1603
In a tractor automatic navigation system, path planning plays a significant role in improving operation efficiency. This study aims to create a suboptimal reference course for headland turning of a robot tractor and design a path-tracking controller to guide the robot tractor along the reference course. A time-minimum suboptimal control method was used to generate the reference turning course based on the mechanical parameters of the test tractor. A path-tracking controller consisting of both feedforward and feedback component elements was also proposed. The feedforward component was directly determined by the desired steering angle of the current navigation point on the reference course, whereas the feedback component was derived from the designed optimal controller. Computer simulation and field tests were performed to validate the path-tracking performance. Field test results indicated that the robot tractor followed the reference courses precisely on flat meadow, with average and standard lateral devia- tions being 0.031 m and 0.086 m, respectively. However, the tracking error increased while operating on sloping meadow due to the employed vehicle kinematic model. 相似文献
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LI Mao-hai HONG Bing-rong LUO Rong-hua WEI Zhen-hua 《浙江大学学报(A卷英文版)》2006,7(6):937-944
INTRODUCTION A key prerequisite for a truly autonomous robot is that it can simultaneously localize itself and accu-rately map its surroundings (Kortenkamp et al., 1998), which is known as Simultaneous Localization and Mapping (SLAM), which, when phrased as a state estimation problem, involves a variable number of dimensions. Murphy and Russell (2001) adopted Rao-Blackwellized particle filters (RBPFs) as an effective way for representing alternative hypotheses on robot paths and ass… 相似文献
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We report on a project currently under way within the department of Computer Science at the University of Reading exploiting networking and multimedia technology to provide a shared robotics laboratory on the Internet. The laboratory is for use by our own students and students at other Higher Education (HE) institutions in the UK. We present a mobile robot system we have developed to support teaching, and we describe how the Internet is being used to provide and control access to the robot. A case study is presented illustrating the use of the mobile robot in student project work. The key goal of the work we are pursuing is the provision of robots as networked resources similar to other computing resources, in this way making them accessible to many more students than would otherwise be able to gain access to this advanced technology. 相似文献
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One of the main problems faced within departments of computer science is how to encourage students to use their algorithmic and programming skills in the real-life context. This paper deals with control technologies for higher education. We define controlware as a toolkit for creating the control part of a mobile robot in interactive learning environments and educational micro-worlds. Intelligent behavior of mobile robots is created through the composition of constituent control units. The overall behavior of a mobile robot is half cooperative and half-competitive realization of the goals of the control units. To construct this composition behavior and resolve the corresponding conflicts, a partially ordering priority arbitration subsystem is defined. It is shown that the suggested approach links educational processes both in a control curriculum and an intelligent robotics curriculum. We hope that the spreadsheet-based controlware will make the mobile robots lear ning environment an accepted educational practice tool in computer science. 相似文献
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设计了基于单片机控制的红外导航移动机器人,通过超声波测距来感知机器人的环境信息,利用微波和红外发射装置进行通信,机器人采集到红外信号后,调整路径,实现红外跟踪和自主定位,每个环节的电路均在实验中得到验证,为进一步深入研究机器人技术搭建了一个基础的实验平台。 相似文献
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翟永君 《天津职业院校联合学报》2012,14(8):44-47
文章结合AS-UII型自主移动机器人的结构,针对其任意角实现的困难,给出任意转角运动的算法思想,并进行实现,通过测试表明本文给出的算法切实可行。 相似文献
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基于模糊逻辑的移动机器人智能控制器设计（英文） 总被引：3，自引：0，他引：3
为了提高移动机器人在未知环境下的自主性,设计了一种基于模糊逻辑的智能控制器.该控制器可以辅助装备多传感器的机器人在室内未知环境下安全地进行自主导航.首先,基于模糊逻辑设计了2种实现移动机器人智能导航的行为：路径追踪行为和避障行为.使用模糊逻辑的方法可以通过模仿人类驾驶经验,降低移动机器人在未知环境下实现自主导航的复杂性.然后,利用有限状态机对2种行为进行融合,以确保在未知的室内环境下机器人能够安全地追踪一条事先指定的路径.控制器的输入为机器人的传感器数据,输出为要求机器人运动的方向.最后,仿真和实验结果证实了该控制器的有效性. 相似文献
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针对普通轮式机器人在运动和控制等方面的限制,设计并实现了轮式滑动转向移动机器人,该机器人具有结构简化、运动灵活、可靠性高、可控性好等特点.基于EKF实现单目视觉和IMU数据融合,运用SURF实现被跟踪对象特征的检测与匹配,结合垂直线等环境特征获取Range/Depth信息以及被跟踪对象及道路转弯信息.实验表明:该系统及相关算法有较强的实时性和鲁棒性. 相似文献
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Maria Gini 《Computer Science Education》2013,23(2):223-237
The paper describes the organization and technical details of an undergraduate project that culminated at the IJCAI robot competition in August 1995. As part of the project, a team of five undergraduate students designed and built an autonomous minirobot that was able to detect cups and cans, pick them up, and bring them to the appropriate trash or recycling bin. The robot was named Walleye, the state fish of Minnesota that is known for its voracious appetite. The limited size of the memory and the limited speed of the microcontroller have dictated most of the design choices. Walleye was, by far, the cheapest of all the entries in the competition, and performed well obtaining the third place. More important, working on the project has been a tremendous educational experience for the students in the team. This project is part of a larger effort aimed at exposing undergraduate students to a variety of projects in robotics, computer vision, and 3D modeling. We have chosen these topics as the sources of projects because of their interdisciplinary nature and because they provide a wide variety of problems where system integration, communication, and cooperation are important, and where the “fun” of building and programming a robot is a highly motivating force for the learning process. 相似文献
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随着科学技术发展,机器人技术也得到了巨大的进步,当前机器人已经在工业、农业及日常生活中都得到了广泛的应用.针对商场、宾馆等场所的应用需求,设计了一种迎宾机器人的控制电路,该控制电路由开关电源电路、人员进出判别电路、语言控制模块电路、机器人动作控制电路等组成.通过该电路,机器人能够自动识别顾客的进出方向,并作出相应的迎送动作和语言反应. 相似文献