基于路径规划的智能机器人控制实验  

Intelligent robot control experiments based on path-planning

作　　者：张佳[1] 陈杰[1] 窦丽华[1] 

机构地区：[1]北京理工大学自动化学院

出　　处：《实验技术与管理》2010年第12期44-47,共4页Experimental Technology and Management

基　　金：北京市教育委员会共建重点实验室资助项目(CSYS100070417)

摘　　要：针对自动化专业学生,以Pioneer 3-AT系列的机器人为对象,搭建了基于路径规划的智能机器人实验教学平台。在此平台上,设计并开发了分别适用于本科生及硕士研究生的系列实验,包括基于模型的路径规划、全区域覆盖路径规划以及多机器人队形控制等3项实验内容。该实验能够让学生接触到先进的智能机器人,增强学生对自动化专业的学习兴趣,提高了学生的动手能力和创新能力。Aiming at students of automatization major,this paper takes robots of Pioneer 3-AT Series as object and constructs an intelligent robot experiment teaching platform based on path-planning.Based on this platform,a series of experiments which appointed to undergraduate students and graduate students respectively are designed and exploited.It includes model-based path-planning,complete coverage path-planning and multi-robot formation experiment.The experiment offers an opportunity for students to work with advanced intelligent robots.It enhances students＇ interests to learn automatization major.Also,students＇ innovation ability could be improved by the experiment.

关 键 词：智能机器人 路径规划 全区域覆盖 队形控制 

分 类 号：TP242-33[自动化与计算机技术—检测技术与自动化装置]