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设计了一款可实现移动机器人自主导航避障的仿真软件,该软件包括机器人运行环境仿真与机器人运动控制仿真2部分.其中运行环境仿真部分提供了机器人的障碍环境即运行地图,机器人运动控制仿真部分分别模拟了机器人雷达、导航避障算法及机器人运动.首先讨论了软件框架,实现了机器人“传感-思考-执行”的运行机制;然后详细介绍了机器人雷达仿真的软件原理;再利用矢量场直方图算法控制机器人自主导航避障;最后利用龙格库塔四阶方法对机器人线性模型进行运动仿真解算.实验结果证明了该软件方案的有效性与可行性.
A simulation software that can realize autonomous navigation obstacle avoidance of mobile robot is designed, which includes robot simulation environment and robot motion control simulation part 2. The simulation part of the operating environment provides the obstacle environment of the robot that is running map, robot motion control simulation Partially simulate robot radar, navigation obstacle avoidance algorithm and robot motion respectively.Firstly, the software framework is discussed, and the operating mechanism of robot “sense-think-execute” is realized. Then the software principle of robot radar simulation is introduced in detail. The vector histogram algorithm is used to control robotic autonomous navigation obstacle avoidance. Finally, the fourth-order Runge-Kutta method is used to simulate the robot linear model. The experimental results show the effectiveness and feasibility of the proposed scheme.