一种室内轮式自主移动机器人的导航控制研究

机器人与单片机资料

第29卷　第6期2003年11月自　动　化　学　报ACTA AU TOMA TICA SIN ICA Vol 129,No 16Nov.,2003一种室内轮式自主移动机器人的导航控制研究1)

李　磊1,2　　陈细军1　　曹志强1　　候增广1　　谭　民1

1(中国科学院自动化研究所复杂系统与智能科学实验室　北京　100080)

2(中国科学院高技术产业发展局　北京　100864)

(E 2mail :lilei @compsys.ia.ac.cn ;lilei @cashq.ac.cn )

摘　要　介绍了一种室内移动机器人CASIA 2I.对该机器人的运动机构做了较为详细地阐述,

针对该运动机构给出了机器人的运动方程和一种导航控制算法,并根据该算法进行了软件仿真

和实物实验.在软件仿真和实物实验两种环境下,机器人都能够实时避开障碍物奔向目标.仿真

和实验表明:该移动平台具有良好的可靠性,且该导航控制算法是一种有效的导航算法.

关键词　移动机器人,运动机构,导航控制

中图分类号　TP24

1)国家“863”计划(2001AA422340,2002AA423160)和国家自然科学基金(60205004)资助

Supported by the National “863”Program (2001AA422340,2002AA423160)and National Natural Science Foundation of P.R.China (60205004)

收稿日期　2002209227　　收修改稿日期　2003201206

Received September 27,2002;in revised form January 6,2003

R esearch on the N avigation Control of an Indoor Wheeled Autonomous Mobile R obot

L I Lei 1,2　CAO Zhi 2Qiang 1　HOU Zeng 2Guang 1　TAN Min 1

1(L ab f or Com plex S ystem and Intelligence Science ,Instit ute of A utomation ,

Chi nese Academy of Sciences ,Beiji ng 　100080)

2(B ureau of Hi 2Tech Indust ry Development ,Chi nese Academy of Sciences ,Beiji ng 　100864)

(E 2mail :lilei @compsys.ia.ac.cn ;lilei @cashq.ac.cn )

Abstract 　This paper describes an indoor autonomous wheeled mobile robot CASIA 2I we de 2

veloped.The locomotion system of the robot ,besides kinemics equation ,navigation algo 2

rithm is expounded here.The software simulation and experiment are conducted by the algo 2

rithm.Both in the environment of software simulation and in the condition of ex periment ,

the robot can avoid obstacles and navigate itself to the destination in real time.The stability

of the platform and effectiveness of the algorithm are demonstrated by means of simulation

example and experiment results.

K ey w ords 　Mobile robot ,locomotion system ,navigation control

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