野外移动机器人总体功能的概念性设计及计算机虚拟仿真
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摘要
本文以野外移动机器人为研究对象，在总体功能的基础概念设计的基础上采用先进的视景仿真手段，实现其计算机仿真。论文首先对野外移动机器人的总体功能进行了创新性的概念设计，并具体探讨了机器人的特定功能和执行该功能的结构。然后针对仿真系统的开发，探讨了特征物模型和环境的建立方法、电子地图的制作和坐标转换方法、移动机器人的自主导航、路径规划和地图匹配方法、3DS文件接口和仿真动画等相关技术。最后运用VC++和OpenGL在windows2000平台下，开发了移动机器人的仿真系统。该仿真系统使野外移动机器人及其运行环境可视化，把传统仿真方法中的数字化的信息变为直观的、以图形图像形式表示的、随时间和空间变化的仿真过程呈现在研究人员面前，使研究人员能够知道系统中变量之间、变量与参数之间、变量与外部环境之间的关系，直接获取系统的静态和动态特性。另外，系统可以做到用图形与图像来表征仿真计算结果，并提供观察数据交互作用的手段，使研究人员可以实时的跟踪并有效地驾驭数据模拟与实验过程。
The thesis mainly researches how to realize computer virtual simulation of field mobile robot based on its conceptual design of the general function by means of visual simulation. First, the thesis extends and innovates the general function of robot from concept. Then aimed to the development of simulation system, it probes into methods about how to build characteristics objects and scene, how to make electronic map and transforming coordinate systeim how to realize navigation and load layout of robot by itself - how to realize map matching, how to read 3DS files and realizing movement menu technology and so. At last, it develops simulation system based on window2000 with VC++ and OpenGL. The system makes robot and scene visualization .It transforms digital information of traditional simulation into simulation procedure that can be expressed by graph and image ,and at the same time shows the procedure before researcher, which lets researcher knows relations of different variables, relations between variables and parameters, relations between variables and outer environments .Then researcher can acquire static and dynamic properties of system. On the other hand, the system can realize simulation result expressed by graph and image and provides a interactive method for observational data and at the same time can make researcher can track and rein data simulation and experimental process by real time.
The thesis mainly researches how to realize computer virtual simulation of field mobile robot based on its conceptual design of the general function by means of visual simulation. First, the thesis extends and innovates the general function of robot from concept. Then aimed to the development of simulation system, it probes into methods about how to build characteristics objects and scene, how to make electronic map and transforming coordinate systeim how to realize navigation and load layout of robot by itself - how to realize map matching, how to read 3DS files and realizing movement menu technology and so. At last, it develops simulation system based on window2000 with VC++ and OpenGL. The system makes robot and scene visualization .It transforms digital information of traditional simulation into simulation procedure that can be expressed by graph and image ,and at the same time shows the procedure before researcher, which lets researcher knows relations of different variables, relations between variables and parameters, relations between variables and outer environments .Then researcher can acquire static and dynamic properties of system. On the other hand, the system can realize simulation result expressed by graph and image and provides a interactive method for observational data and at the same time can make researcher can track and rein data simulation and experimental process by real time.
引文
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[3] Zhan F B.1997.Three Fastest Shortest Path Algorithms on Real and NetworksJournal of Geographic Information and Decision Analysis, 16(1):69～82
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[7] 胡明城，鲁福．现代大地测量学(下册)．北京：测绘出版社，1994
[8] 尚游，陈岩涛．OpenGL图形程序设计指南．北京：中国水利水电出版社，2001
[9] 金小刚，彭群生。计算机动画技术综述．软件学报，1997，8(4)：241～251
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[11] Dang Gang,Hu Huaping,Jin Shiyao. The Research an Implement of Behavioral Description ased on Layered Architecture for Virtual Environment. In:CAD&CG SOCIETY, CCF, Guilin, 1998,b21～b26
[12] Perlin K.Real time respoinve animation with personality. IEEE Trans actions on Visualization and Computer Graphics,March, 1995,1 (1)
[13] Gerald N PittsDaniel Cornell. Using Object Peripherally-Based level Of detail Switching For Real-Time 3D Graphics Simulations. Department of Computer Science Trinity University. 1997,277～280
[14] Snowdon S,Greenhalgh C et al.A review of distributed architecture for networked VR. VR:Research,Development and Application, 1996,2(1): 155～175
[15] Waters K.A Muscle Model for Animating Three-dimensional Facial Expression. Computer graphics, 1987,21 (4): 17～23
[16] 张起，吴彗中．火焰、烟、云等不规则物体的建模方法研究综述，中国图像图形学报，2000，5(A)：186～190
[17] 杨云雷．三维实时动画的原理和实现．中国计算机用户，1996
[18] Adams R J,Hannaford B.Interaction with stable tactility of virtual environment. IEEE Trans on Robotics and Automation, 1999,15(3):465～474
[19] Adolphs P Hoelper R.Collision-free robot path planning based on local environment information. Int J Robotics andAutomation, 1992,8(3): 139～151
[20] Burdea G C.Optimal cooperation between virtual reality and robotics. IEEE Trans on Robotics and Automation, 1999,15(3):400～410
[21] Cai Zixing. Four-element structure theory of intelligent controI.J CSUT, 1995,2(1):29～32
[22] Cai Zixing,Fu K S.Robot planning expert systems. Proc of IEEE Int Conf on Robotics and Automation,Vol.3:1973-1978,SanFrancisco, USA,April 7～10,1986
[23] Davis R H,Comacho M.The application of logic programming to the generation of plans for robots. Robotica, 1984,2:93～103,137～146
[24] Freund E,Rossmann J.Projective virtual reality:Fill gap between virtual reality and robot technology. IEEE Trans on Robotics and Automation, 1999,15(3):411～422
[25] Fu K S.Computer vision for automatic inspection. Proc Robotic Intelligence and Productivity Conf,7～15,1983
[26] Hardy N,Ahmad A.Reuse decouple in design and operation based on virtual sensors.Autonomous Robots, 1999,6(3):265～280
[27] Halme A,Suomela J,Savela M.Application of elepresence and virtual reality in telecontrol offield robots. Robotics and Autonomous Systems, 1999,26(2-3): 117～125
[28] Lins S-T ,Tzeng S-J.A NN-based force control of industrial robots.J of Intelligent and Robotic Systems, 1999,24(3):253～268
[29] Saridis G N.Intelligent robotic control. IEEE Trans on Automatic Control, 1988,28(5):547～557
[30] Sameer M P. ANN based adaptive robot controller. J Interlligent and Robotic Systems, 1996,15(1):3～10
[31] Visentin G,Brown D L.Robots for maintenance of communication satellite. Robotics and Autonomous Systems, 1998,23(1-2):45～51
[32] 艾海舟，张朋飞，何克忠．室外移动机器人的视觉临场感系统．机器人，2000，22(1)：28～32
[33] 蔡自兴，张钟俊．机器人技术的发展．机器人，1987第3期：58～62
[34] 蔡自兴．寻找无碰路径的专家系统．中国人工智能学会第五届年会论文集：54～57，北京，1987年4月
[35] 蔡自兴．智能机器人技术面临的挑战．计算机世界，1997年6月16日：97～99
[36] 田华，张钟俊等．智能机器人系统建模的新方法。模式识别与人工智能，1993，6(3)：202～206
[37] 汪成为，高文．灵境技术理论、实现及应用．北京：清华大学出版社，1996
[38] 王传兴．智能机器人的智能功能．国外自动化，1985年，第2期，16
[39] 王树国，战强．移动机器人的爬梯机构．机器人，1998，20(2)：181～186
[40] 王天然，彭慧等．一个开放式移动机器人的体系结构．机器人，1995，17(4)：193～199
[41] 许海平，孙茂相．混合遗传算法及其在机器人运动规划中的应用．机器人，1998，23(2～4)：364～363
[42] 张学福．机器人学：智能机器人传感技术．北京：电子工业出版社，1996
[43] 赵亦林(美)著，谭国真译．车辆定位与导航系统．北京：电子工业出版社，1999
[2] Richard E k. 1990.Real-Time Heuristic Search. Artificial Intelligence,42(3):189～211
[3] Zhan F B.1997.Three Fastest Shortest Path Algorithms on Real and NetworksJournal of Geographic Information and Decision Analysis, 16(1):69～82
[4] Zhao Y, Waymouth T E. 1991.An Adaptive Route Guidandce Algorithm.Control Conference,2568-2573
[5] 熊介．椭球大地测量学．北京：解放军出版社，1988
[6] 刘光运，韩丽斌．电子地图技术与应用．北京：测绘出版社，1996
[7] 胡明城，鲁福．现代大地测量学(下册)．北京：测绘出版社，1994
[8] 尚游，陈岩涛．OpenGL图形程序设计指南．北京：中国水利水电出版社，2001
[9] 金小刚，彭群生。计算机动画技术综述．软件学报，1997，8(4)：241～251
[10] Dehaemer W J. Simplification of Object:Rendered by polygonal Approximations. Computer Graphics, 1991,15(2): 175～184
[11] Dang Gang,Hu Huaping,Jin Shiyao. The Research an Implement of Behavioral Description ased on Layered Architecture for Virtual Environment. In:CAD&CG SOCIETY, CCF, Guilin, 1998,b21～b26
[12] Perlin K.Real time respoinve animation with personality. IEEE Trans actions on Visualization and Computer Graphics,March, 1995,1 (1)
[13] Gerald N PittsDaniel Cornell. Using Object Peripherally-Based level Of detail Switching For Real-Time 3D Graphics Simulations. Department of Computer Science Trinity University. 1997,277～280
[14] Snowdon S,Greenhalgh C et al.A review of distributed architecture for networked VR. VR:Research,Development and Application, 1996,2(1): 155～175
[15] Waters K.A Muscle Model for Animating Three-dimensional Facial Expression. Computer graphics, 1987,21 (4): 17～23
[16] 张起，吴彗中．火焰、烟、云等不规则物体的建模方法研究综述，中国图像图形学报，2000，5(A)：186～190
[17] 杨云雷．三维实时动画的原理和实现．中国计算机用户，1996
[18] Adams R J,Hannaford B.Interaction with stable tactility of virtual environment. IEEE Trans on Robotics and Automation, 1999,15(3):465～474
[19] Adolphs P Hoelper R.Collision-free robot path planning based on local environment information. Int J Robotics andAutomation, 1992,8(3): 139～151
[20] Burdea G C.Optimal cooperation between virtual reality and robotics. IEEE Trans on Robotics and Automation, 1999,15(3):400～410
[21] Cai Zixing. Four-element structure theory of intelligent controI.J CSUT, 1995,2(1):29～32
[22] Cai Zixing,Fu K S.Robot planning expert systems. Proc of IEEE Int Conf on Robotics and Automation,Vol.3:1973-1978,SanFrancisco, USA,April 7～10,1986
[23] Davis R H,Comacho M.The application of logic programming to the generation of plans for robots. Robotica, 1984,2:93～103,137～146
[24] Freund E,Rossmann J.Projective virtual reality:Fill gap between virtual reality and robot technology. IEEE Trans on Robotics and Automation, 1999,15(3):411～422
[25] Fu K S.Computer vision for automatic inspection. Proc Robotic Intelligence and Productivity Conf,7～15,1983
[26] Hardy N,Ahmad A.Reuse decouple in design and operation based on virtual sensors.Autonomous Robots, 1999,6(3):265～280
[27] Halme A,Suomela J,Savela M.Application of elepresence and virtual reality in telecontrol offield robots. Robotics and Autonomous Systems, 1999,26(2-3): 117～125
[28] Lins S-T ,Tzeng S-J.A NN-based force control of industrial robots.J of Intelligent and Robotic Systems, 1999,24(3):253～268
[29] Saridis G N.Intelligent robotic control. IEEE Trans on Automatic Control, 1988,28(5):547～557
[30] Sameer M P. ANN based adaptive robot controller. J Interlligent and Robotic Systems, 1996,15(1):3～10
[31] Visentin G,Brown D L.Robots for maintenance of communication satellite. Robotics and Autonomous Systems, 1998,23(1-2):45～51
[32] 艾海舟，张朋飞，何克忠．室外移动机器人的视觉临场感系统．机器人，2000，22(1)：28～32
[33] 蔡自兴，张钟俊．机器人技术的发展．机器人，1987第3期：58～62
[34] 蔡自兴．寻找无碰路径的专家系统．中国人工智能学会第五届年会论文集：54～57，北京，1987年4月
[35] 蔡自兴．智能机器人技术面临的挑战．计算机世界，1997年6月16日：97～99
[36] 田华，张钟俊等．智能机器人系统建模的新方法。模式识别与人工智能，1993，6(3)：202～206
[37] 汪成为，高文．灵境技术理论、实现及应用．北京：清华大学出版社，1996
[38] 王传兴．智能机器人的智能功能．国外自动化，1985年，第2期，16
[39] 王树国，战强．移动机器人的爬梯机构．机器人，1998，20(2)：181～186
[40] 王天然，彭慧等．一个开放式移动机器人的体系结构．机器人，1995，17(4)：193～199
[41] 许海平，孙茂相．混合遗传算法及其在机器人运动规划中的应用．机器人，1998，23(2～4)：364～363
[42] 张学福．机器人学：智能机器人传感技术．北京：电子工业出版社，1996
[43] 赵亦林(美)著，谭国真译．车辆定位与导航系统．北京：电子工业出版社，1999