一种欠驱动移动机器人运动模式分析  

Analysis of a Underactuated Mobile Robot Moving Mode

作　　者：李艳杰[1] 马岩[1] 钟华[2] 吴镇炜[2] 隋春平[2] 

机构地区：[1]沈阳理工大学机械工程学院,沈阳110168 [2]中国科学院沈阳自动化研究所,沈阳110016

出　　处：《自动化与仪表》2013年第9期8-11,共4页Automation & Instrumentation

基　　金：国家科技支撑计划项目(2013BAK03B01;2013BAK03B02)

摘　　要：介绍了一种欠驱动移动机器人的机械结构。分析了该欠驱动移动机器人在平地行进模式的特点,提出一种越障控制模式。在该越障控制模式中加入了障碍物高度计算算法,使得移动机器人在越障过程中的智能控制更加高效。利用VB编写控制程序人机界面,在移动机器人实物平台上进行了实验,实验结果证明了控制方法的有效性。The mechanical structure of a kind of underactuated mobile robot was described in this paper. The charac- teristics of the umteractuated mobile robot in the plains traveling mode was analyzed and a kind of obstacle-negotia- tion control mode was proposed. Due to calculate algorithm of obstacle＇s height was added to the the obstacle-nego- tiation control mode,the intelligent control of obstacle-negotiation becomes more efficient. The control procedure HMI was programmed by VB and the experiment was performed on the mobile robot platform. Experiment results show /he control method was effective.

关 键 词：AVR单片机 欠驱动移动机器人 越障模式 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]