一种室内导航环境下自主智能移动机器人的研究外文文献翻译、中英文翻译、外文翻译.docVIP

PAGE 2 The investigation of an autonomous intelligent mobile robotsystem for indoor env ironment navigation Abstract The autonomous mobile robotics system designed and implemented for indoor environmentnavigation is a nonholonomic differential drive system wih two driving wheels mounted on thesame axis driven by two PID controlled motors and two caster wheels mounted in the front andback respectively. It is furnished with multiple kinds of sensors such as IR detectors ,ulrasonicsensors ,laser line generators and cameras,constituting a perceiving system for exploring itssuroundings. Its compulation source is a simultaneously running system composed ofmultiprocessor with multitask and multiprocessing programming· Hybrid control architectureis employed on the rmbile robot to perform complex tasks. The mobile robot system isimplemented at the Center for Inelligen Design , Automation and Manufacturfing of CityUniversity of Hong Kong Key words :mobile robot ; ntelligent control ; sensors ; navigation Introduction With increasing interest in application of autonomous mobile robots in the factory and inservice environments, many investigations have been done in areas such as design, sensing,control and navigation. etc, Autonomousreaction to the real wand, exploring the environmment,follownng the planned path wnthout collisions and carrying out desired tasks are the mainrequirements of intelligent mobile robots. As humans, we can conduct these actions easily.For robots however· it is tremendously difficult. An autonomous mobile robot should make useof various sensors to sense the environment and interpret and organize the sensed information toplan a safe motion path using some appropriate algorithms while executing its tasks. Manydifferent kinds of senors have been utilized on mobile robots, such as range sensors, lightsensors, force sensors, sound sensors, shaft encoders, gyro scope S, for obstacle aw idance,localizatio n, rmtion sensing, navigation and internal rmnitori