开放式自主移动机器人系统设计与控制实现  

Design and Control of an Open Autonomous Mobile Robot System

作　　者：贾建强[1] 陈卫东[1] 席裕庚[1] 

机构地区：[1]上海交通大学自动化系,上海200030

出　　处：《上海交通大学学报》2005年第6期905-909,共5页Journal of Shanghai Jiaotong University

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.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.

关 键 词：机器人 自主移动机器人 进程间通信 控制系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]