面向双臂移动机器人三维仿真的拓扑地图自动创建研究-机械电子工程专业毕业论文.docxVIP

PAGE PAGE IV Abstract The project “Intelligent Software Modules for Service Robots” is cooperated by Shanghai Jiao Tong University (SJTU) and Yaskawa Electric Corp., and this paper is mainly on the research of 3D environment modeling technology and the navigation map creation. This paper initially introduce the 3D environment editor on the PC and based on cross‐platform Java and Java3D to build a robot simulation of three‐dimensional environment, a high degree of editing system is introduced through the system editor for the arms wheel mobile robot SmartPalV for 3D virtual environment for simulation. Meanwhile, in order to testify the robot under three dimensional simulation environment and the path planning simulation.？ According to different tasks required accuracy of the dual‐arm mobile robot SmartPalV, there is proposed to create the corresponding metric maps, grid maps and topological map building methods. And then create a gestures based SmartPalV topological map and the automatic topology map creation method of the SmartPalV under 3D environment. The morphological based automatic topology map creation method in this paper is a kind of developed thinning method which always used in image process, in considering of the gesture change characeritic of the dual.arm robot, this paper use the combined grid to define the gesture of the dual.arm robot, and during the navigation process, the robot take time consuming statistic for the complexity of different gestures. And also through the research of the automatic generation of the topology maps, to reduce the amount of time‐consuming of 3D simulation to improve the program running speed. Finally, the 3D simulation experiments verify the algorithm of the morphological change based topological map automatic creation algorithm. The results show that the efficiency of the proposed method was significantly superior to the traditional topological map building algorithms. The topology map automatic create algo