仿沙蟻導(dǎo)航與定位機器人平臺的設(shè)計

1、合肥工業(yè)大學(xué)碩士學(xué)位論文仿沙蟻導(dǎo)航與定位機器人平臺的設(shè)計姓名：楊姜偉申請學(xué)位級別：碩士專業(yè)：信號與信息處理指導(dǎo)教師：張旭東；范之國201104DesignoftheRobotPlatfmBasedonBionicCataglyphisNavigationPositioningABSTRACTBionicnavigationisanimptantresearchtrendinmodernnavigationtechnology.Catag

2、lyphispolarizedlightnavigationlmarknavigationcomplementeachother’sadvantageswhicharehelpfultoCataglyphisfaginginthedesert.TherefebionicCataglyphisnavigationregardedasanovelmethodofautonomousnavigationshouldberaisedbothmu

3、chresearchsignificancemanymilitaryapplications.Apositioningrobotplatfmwithbioniccataglyphisnavigationisdescribedinthisdissertationwhichisdesignedimplementedfexperimentalstudytheeticalverificationofourproposedmethod.Thema

4、incontentreadsasfollows:(1)Therearetwonavigationbehavisincataglyphisfagingprocesswhichareintroduceddiscussedfthedetailofimplementationprinciples.Theliteraturereviewofcataglyphisnavigationprovidesabiologicalmodeltheetical

5、supptfthedesignedoftherobotplatfm.(2)Functionalrequirementsareanalyzedftheconstructionofourmobilerobotplatfmsystem.NavigationhardwareplatfmisimplementedbasedonembeddedmicroprocessS3C2440A.thedesignofacquisitiondeviceofpo

6、larizedlightinfmationiscompleted.(3)Therobotbasedonbioniccataglyphisnavigationisgivencertaindetailedimplementationsrealizationsfitshardwareplatfmsuchasacquisitiondevicesfmultisourcenavigationinfmationcontrolcircuitfsigna

7、lprocessingcontrolcircuitfcarrier’sdrivesystemsoon.(4)Detectionperfmanceaccuracyofinfmationcollectiondevicedatacollectionmoduleareverifiedinthehardwaresoftwaretesting.Sptsperfmanceofsystemcarrierisalsoestimatedinthemeasu