小型全向移动安检机器人行为控制系统结构设计  

Design of Small Omni-Directional Mobile Inspecting Robot System

作　　者：徐箭雨[1] 陈卫东[2] 

机构地区：[1]桂林理工大学机械与控制工程学院,广西桂林541004 [2]上海交通大学自动化系,上海200030

出　　处：《计算机测量与控制》2012年第10期2713-2715,共3页Computer Measurement &Control

摘　　要：提出了一种小巧、便携的移动式安检机器人系统(MIRS),用于自主/半自主地执行停车场车辆排查任务;其硬件结构特点一是配有三个速度和方向都可以独立地加以控制的全向轮;二是由多处理器和多传感器阵列组成的机器人电子系统;软件方面使用新颖的参数化指令语言以实现机器人智能行为,其控制系统的核心特征是一种能够将传感器数据识别成模型库中特定模型、进而在任务执行时在线生成运动/行为控制指令参数的"物体识别系统",从而实现不确定环境下的适应性行为;实验结果证明,集成上述软/硬件体系的MIRS能够在线识别停车场常见物体,具有不确定环境下的智能行为能力。The omni--direetional Mobile Inspecting Robot System （MIRS） is a small, man--portable mobile robotic system that can be used for autonomous or semi--autonomous inspection under vehicles in a parking area. The robot features three omni--directional wheels in which both the speed and direction of the wheel can be independently controlled and a vehicle electronic capability that includes multiple processors and a sensor array with a laser, sonar and IR sensors, and a video camera. MIRS employs a novel parameterized command language for intelligent behavior generation. A key feature of the MIRS control system is the use of an object recognition system that fits models to sensor data. These models are then used as input parameters to the motion and behavior control commands. Experiment results show that MIRS integrated with this ＂online commitment＂ strategy can recognize common objects in a parking area and behave intelligently in such uncertain environment.

关 键 词：移动机器人 全向移动 物体识别 不确定环境 环境感知 在线提交 

分 类 号：TP302[自动化与计算机技术—计算机系统结构]