基于组态方法的移动机器人控制研究和实现
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摘要
在未知环境中对移动机器人的控制方法是机器人学和智能控制学的一个重要领域。本文提出了一种基于组态方法的机器人控制系统的结构设计,并提供工业级的、有强大支持的控制系统开发平台IAP(工业自动化通用平台)来控制具有感知系统且能够进行决策规划和执行控制的自主移动机器人。具体介绍控制组态元件的算法原理和使用方法,通过实现机器人避障策略的实验,不仅表明了该控制系统能达到实时控制的目的,同时体现了用IAP平台开发控制系统周期短效率等特点。
The control method of mobile robot under unknown circumstances has become an important erea in the study of robot and intelligent control. This paper has come up with a constructure design of robot control system which is based on graphical configuration, and provide a industrial,strongly supported control system developing platform IAP(industry automation platform) to control automatic robot that is equipped with sensor system,can conduct decision-making and self-control. Details about the algorithm and use of control configuration component are given in this paper. The experiment of realizing robot obstacle avoidance strategy shows that not only the control system can achieve the goal of real-time controlling, the IAP platform have the advantages of short developing circle and high efficiency.
The control method of mobile robot under unknown circumstances has become an important erea in the study of robot and intelligent control. This paper has come up with a constructure design of robot control system which is based on graphical configuration, and provide a industrial,strongly supported control system developing platform IAP(industry automation platform) to control automatic robot that is equipped with sensor system,can conduct decision-making and self-control. Details about the algorithm and use of control configuration component are given in this paper. The experiment of realizing robot obstacle avoidance strategy shows that not only the control system can achieve the goal of real-time controlling, the IAP platform have the advantages of short developing circle and high efficiency.
引文
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[2]郑松,倪维斗.基于数据引擎技术的通用控制站[J].电气时代,2008(9).
[3]上海未来伙伴机器人有限公司[Z].AS-R用户开发参考手册.
[4]中海创.IAPLogic元件手册[Z].Version1.0.4,2012.7.
[5]李磊,叶涛,谭民,陈细军.移动机器人技术研究现状与未来[J].机器人,2002(9):24(5).
[6]张小冰,陈卫东,曹其新.面向服务机器人的简易编程环境设计[J].上海交通大学学报,2007,41(11):1811-1815.
[7]Bishop.RH Learning with Labview 2009[M].New Jersey,USA:prentice Hall,2009.
[8]BIGGS G,MACDONALD B.A survey of robot programming systems[C]//Proc Australasian Conference on Robotics and Automation.Brisbane,Australia:[s.n.],2003.
[9]Jackson.J Microsoft robotics studio:A technical introduction[J].Robotics&Automation Magazine,IEEE,2007:82-87.
[10]Robot Operating System:http://www.ros.org/wiki,2010.
[11]Bruyninckx.H Open robot control software:the OROCOS project[C].Proceedings ICRA.IEEE international Conference on,Belgium,2001:2523-2528.
[12]Cervera.E Practical multirobot applications with player And JADE[C].10th International Conference on Control Automation Robotics and Vision,Hanoi 2008:2004-2009.
[13]唐建平,宋红生,王东署.一种移动机器人动态环境下路径规划[J].郑州大学学报,2012,44(1).