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[1]曹卫华,吴净斌,吴敏,等.无路标环境下遥操作机器人SLAM系统[J].智能系统学报,2010,5(3):240-246.
　CAO Wei-hua,WU Jing-bin,WU Min,et al.A system for telerobotics in environments without landmarks[J].CAAI Transactions on Intelligent Systems,2010,5(3):240-246.

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无路标环境下遥操作机器人SLAM系统

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《智能系统学报》[ISSN 1673-4785/CN 23-1538/TP] 卷: 5 期数: 2010年第3期页码: 240-246 栏目: 学术论文—智能系统出版日期: 2010-06-25

Title:: A system for telerobotics in environments without landmarks

文章编号:: 1673-4785(2010)03-0240-07

作者:: 曹卫华，吴净斌，吴敏，陈鑫; 中南大学信息科学与工程学院，湖南长沙 410083

Author(s):: CAO Wei-hua, WU Jing-bin, WU Min, CHEN Xin; School of Information Science and Engineering, Central South University, Changsha 410083, China

关键词:: 无线网络; 实时定位; 路径规划; 地图绘制; 遥操作机器人; SLAM系统

Keywords:: wireless network; realtime localization; path planning; map building; telerobotics; SLAM system

分类号:: TP242.6

文献标志码:: A

摘要:: 为了提高遥操作机器人的实用性和高效性，设计与开发了一种基于无线网络的无路标未知环境下探索移动机器人系统，其包括移动机器人子系统和机器人远程状态监视子系统.根据机器人功能需求，提出一种多控制器协作及多传感器信息融合的移动机器人硬件结构.利用机器人实时定位和激光测距扫描的能力，提出了一种改进的VFH算法，进行机器人自主局部路径规划.机器人远程状态监视子系统通过无线网络设定机器人的目标点，实时监视机器人状态，并绘制机器人所探索的环境地图.实验表明，开发的探索移动机器人系统具备了在未知环境探索的能力.

Abstract:: To improve the practicality and efficiency of telerobotics, the authors developed a mobile robot system which uses a wireless network. This allows robots to explore environments without known landmarks. The system consists of two subsystems, the mobile robot itself and the remote state monitoring system. Based on the functional requirements, a hardware structure was proposed with multicontroller cooperation and mulitisensor information fusion. An improved vector field histogram (VFH) algorithm was presented. This gave the robot the ablility to do realtime location and laser ranging. The remote state monitoring subsystem served as an interface, giving target data to the robot via the wireless network. It also monitored the state of the robot in realtime, building up a map of the remote enviroment explored by the robot. Experimental results showed that this system performs well when exploring unknown environments.

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备注/Memo

收稿日期：2009-04-18.
基金项目：国家自然科学基金资助项目(60874042).
通信作者：吴净斌. E-mail: wjbwsb@gmail.com.
作者简介：

曹卫华，男，1972年生，教授、博士.主要研究方向为机器人技术、多智能体系统和生产过程智能控制.获省部级科技进步二等奖2项、三等奖1项，科技成果鉴定4项，发表学术论文20余篇.

吴净斌，男，1983年生，硕士研究生，主要研究方向为机器人技术、嵌入式系统和多智能体系统.

吴敏，男，1963生，教授、博士生导师、博士，主要研究方向为过程控制、鲁棒控制和智能系统.获国家科技进步二等奖1项，省部级科技一等奖1项、二等奖4项、三等奖4项.发表学术论文257篇，出版专著3部、教材1部、译著2部.

更新日期/Last Update: 2010-07-14

无路标环境下遥操作机器人SLAM系统 PDF下载HTML

备注/Memo

无路标环境下遥操作机器人SLAM系统

PDF下载 HTML