室外移動機器人試驗平臺及監(jiān)控行為研究.pdf

1、分類號：密級：’天津理工學院研究生畢業(yè)論文y79乏8如室外移動機器人試驗平臺及監(jiān)控行為研究(申請碩士學位)學科專業(yè)：機械電子工程研究方向：機電控制及自動化作者姓名：朱向彬指導教師：曹作良2005年1月AbstractAbstractInmobilerobot(MR)researcharea，therobotwhichhassuperautonomousbbhaviorabilityisamainlyfieldlobedevelopedi

2、nsomespecialworkenvkonmanttheadvantageofmobilerobotismoreremarkableTheoutdoorMRischallengeandconcemedtaskinautonoinousmobilerobotfield，intelligentlyadaptingt‘ocomplicatedoutdoorenvironmentandchargingwithsomespecialaccide

3、nceareitscharactersInordertodiscoveranddeeplyresearchallproblemsfacedbywheeledmobilerobotinoutdoorenvironmentinthisthesis，aMRexperimentalplatformwasconstructed，andaC／Sstructurewasbuiltfortelecontrolofmobilerobot；basedont

4、hisplatform，manyautonomousbehavioiswasstudiedRemarkablyahoveltystrategyachievedbyFDD(faultdetectionanddiagnosed)method，forrobotautonomousmonitorwaspresented，therobotrtmningstatusandmotionabilitywasrefertothismonitorbehav

5、iorAbovecontentwaspresentedatsixsectionsinthisthesisInchapterone，sometypicalproblemandcontemporaryresearchstatusinoutdoorMRwasanalyzed，thenecessariesofthistaskwaspresentedInchaptertwo，onthebaseofstudythecharactersofoutdo

6、orenvironmenttheomni—mobilerobotentitywasconfiguredgenerallyTherobotcontrolsystemwasanalyzedandoptimizedThentheaimtogetthecollectionofMR’stechnical‘_。hamctersandimplementinrobotautonomouscontroIdes‘ignisrealized／mchapter

7、three，basedonomnimobilerobot，atelecontrolrobotsystemstructuredasC／SwasachievedInthissystem，Allmodules’functionandrealizewaywerepresentedInchapterfourbasedonbehaviorcontrolarchitecture，therealityofMR’sautonomousactionabil

8、itywasstudiedAsketchofbehaviorcontrolbasedondatafusionwasaccomplishedAnewdraftofrobotbehaviorcontrolsystemdevelopmentfollowingthattheactionbehaviorandmonitorbehaviorwassynchronicdeveloped，waspresentedInchapterfive，basedo

9、nFDDmethod，thefeasibleofthiswayimplementinMRwasanalyzed，andbasedonthecharacterofomnimobilerobot，aalgorithmwasdesignedformonitorbehaviorcontr01Inchapter6，asumofthisthesiswaspresented，somepersonalviewsofMRresearchareshowed

10、Astheworkresult，anecessityexperimentplatformwasbuiltupsuccessfullyasthefirststepofoutdoormobilerobotresearch，somebasicactionandmonitorbehaviorwasrealizedandprovedfeasibleKeywords：outdoormobilerobot；behaviorcontrol；datafu