机器人Bug避障算法的Matlab半实物仿真软件设计  

Matlab-based software for bug algorithm hardware-in-the-loop simulation and testing

作　　者：黄培奎 赵祚喜[1,2] 吴志伟[1,2] 曹文君[1,2] 施垒 刘雄[1,2] 

机构地区：[1]华南农业大学南方农业机械与装备关键技术教育部重点实验室,广州510642 [2]华南农业大学工程学院,广州510642

出　　处：《中国科技论文》2015年第8期990-994,共5页China Sciencepaper

基　　金：农业部948计划资助项目(2011-G32);高等学校博士学科点专项科研基金资助项目(20114404110003);国家自然科学基金资助项目(61175081)

摘　　要：以外接激光测距仪的Pioneer3-AT移动机器人作为物理平台,用ARIA-Matlab接口软件实现对物理平台的控制与通信。通过Simulink自定义模块封装Bug算法,设计Matlab Graphical User Interfaces(GUI)界面设置仿真参数和动态显示仿真结果。经由笔者开发的折线Bug与圆弧Bug算法实验表明,该软件可灵活执行纯仿真、半实物仿真与物理执行3种工作方式,实验结果与实际情况吻合,验证了Bug避障算法,对经由传感器实时数据采集的路径规划算法研究具有参考意义。A Pioneer3 -AT mobile robot with laser range finder is employed as physical platform, and ARIA-Matlab software is used as a tool to communication. The path planning unit is designed as selbdefinition blocks in Simulink to implement two BUG algorithms. A Matlab Graphical User Interfaces (GUI) complete is developed for parameter setting and results displaying. As demonstrated by Broken-Bug and Arc-Bug algorithm developed by our team, the software presented work flexible both pure simu- lation, HIL simulation and physical implement with convinced results. Therefore, this software is a versatile and convenient tool for BUG algorithm development and verification, and is expected to work well with other senso^based path planning algorithms with proper modification.

关 键 词：半实物仿真 Bug算法 移动机器人 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]