| 主动适形移动机器人自主导航仿真研究 |
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| 引用本文： | 曹洋,汪增福. 主动适形移动机器人自主导航仿真研究[J]. 系统仿真学报, 2007, 19(4): 754-757,761 |
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| 作者姓名： | 曹洋 汪增福 |
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| 作者单位： | 中国科学技术大学自动化系,安徽,合肥,230027 |
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| 基金项目： | 面向21世纪教育振兴行动计划(985计划) |
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| 摘 要： | 介绍了采用虚拟样机技术建立主动适形移动机器人（Active Terrain Adaptive Vehicle，ATAV）联合仿真平台的设计过程。并以轮-履带-腿式复合型移动机器人为例，在联合仿真平台上对ATAV自主导航控制策略进行仿真研究，提出了基于包容结构的ATAV自主导航控制算法。仿真实验结果验证了控制算法的有效性。
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| 关 键 词： | 适形移动机器人 虚拟样机 自主导航 包容结构 |
| 文章编号： | 1004-731X（2007）04-0754-04 |
| 收稿时间： | 2005-11-30 |
| 修稿时间： | 2005-11-302006-01-17 |
Simulation Research of Autonomous Navigation of Active Terrain Adaptive Vehicle |
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| CAO Yang,WANG Zeng-fu. Simulation Research of Autonomous Navigation of Active Terrain Adaptive Vehicle[J]. Journal of System Simulation, 2007, 19(4): 754-757,761 |
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| Authors: | CAO Yang WANG Zeng-fu |
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| Affiliation: | Department of Automation, University of Science and Technology of China, Hefei 230027, China |
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| Abstract: | The design process of associated simulation platform for active terrain adaptive vehicle(ATAV) based on virtual prototype was introduced.Based on the simulation platform,the autonomous navigation strategy was investigated,which took wheel-track-leg compound mobile robot as an example.The navigation algorithm of ATAV using subsumption architecture was proposed.The simulation results show the validity of the algorithm. |
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| Keywords: | terrain adaptive vehicle virtual prototype autonomous navigation subsumption architecture |
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