數(shù)字地圖與路徑規(guī)劃.pdf

1、南京理工大學碩士學位論文數(shù)字地圖與路徑規(guī)劃姓名：黃挺申請學位級別：碩士專業(yè)：機械制造及其自動化指導教師：施祖康1999.12.1苧塞蘭三奎蘭望主蘭些竺奎壘生型AbstractAtpresenttimeresearchesofautonomousmobilerobotandautonomousnavigatevehidearriveatanewstageWiththedevelopmentofresearch，highdemandsont

2、heautonomousnavigationabHity、precisionofarrivingattargetandtimeofavoidanceobstacleshavealsobeenputforwardButitsautonomousnavigationabHityandprecisionofarrivingattargetarcmainlyinfluencedbyitsNavigationMapDatabase，thatist

3、hemacrocosmprogramming；anditstimeofavoidanceobstaclesaremainlyinfluencedbyitscontrolstrategyandrealtimecontrolperformance，thatisthemicrocosmprogrammingForthisr目21son，thisdissertationpresentsasystematicstudyonNayigationMa

4、pDatabaseandmicrocosmprogrammingth“basedonsyncretizingmultIsensorinformationByanalyzingthekinematicsandstructureofmobilerobot，wegiveoutapracticalmobHerobot’skinematicdescriptionandconstraintswhichdearlydistinguishesaprac

5、ticalmobilerobotfromafreerigidbodyandthiskinematicdescriptionandconstraintsareadaptedtovariouskindofmobilerobotwhichthenumberofwheelsanddrivingandturningmoddallcanbearbitraryinthisdissertationTheNavigationM叩Databaseisthe

6、mostimportantinformationtotherobot’ssteppingInidealstatus，robotisabletofinishsteppingasprogrammingaccordingtodatabaseinpracticallysteppingprocess，theNavigationMapDatabaseisthebaseforrobot’smicrocosmprogrammingSotheNaviga

7、tionMapDatabaseisveryimportantinautonomousmobilerobotTheNavigationMapDatabaseiswhetherreasonableornotisthekeyfortherobotarrivingatitstargetThisdissertationconstructaconcisiondatabaseandafriendlyinterfaceforitsuseraccordi