| 开放式自主移动机器人系统设计与控制实现 |
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| 引用本文： | 贾建强,陈卫东,席裕庚.开放式自主移动机器人系统设计与控制实现[J].上海交通大学学报,2005,39(6):905-909. |
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| 作者姓名： | 贾建强 陈卫东 席裕庚 |
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| 作者单位： | 上海交通大学,自动化系,上海,200030 |
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| 摘 要： | 采用面向对象的方法设计了一个自主移动机器人系统--Frontier-I,并将Linux/Unix 下的进程间通信机制应用到系统的设计中.该系统基于Windows操作系统,采用全向视觉,能够实现诸如避障、导航和机器人足球等复杂的任务;在模块化的设计下,系统能够方便地加入新的模块以扩展其功能.
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| 关 键 词： | 机器人 自主移动机器人 进程间通信 控制系统 |
| 文章编号： | 1006-2467(2005)06-0905-05 |
| 修稿时间： | 2004年5月24日 |
Design and Control of an Open Autonomous Mobile Robot System |
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| JIA Jian-qiang,CHEN Wei-dong,XI Yu-geng.Design and Control of an Open Autonomous Mobile Robot System[J].Journal of Shanghai Jiaotong University,2005,39(6):905-909. |
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| Authors: | JIA Jian-qiang CHEN Wei-dong XI Yu-geng |
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| Abstract: | A modular and object oriented approach was used to construct an autonomous mobile robot system. IPC (inter-process communication), which is the key mechanism in Linux/Unix operation system, was applied to the robot design. Based on Windows operation system, the robot owns an omnivision, and can finish tasks such obstacle detection obstacle barrier as navigation and robot soccer. With a modular (design), new components can be easily added to the system. The robot was applied to a multi-robot task. (The experimental) results show the good performance of the robot. |
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| Keywords: | robots autonomous mobile robot inter-process communication control system |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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