移动探查机器人监督式控制器的设计与实现

本文介绍了一个野外探查机器人监督式控制器的设计与实现,介绍了机器人控制器的三种传统控制方法并比较了其优缺点,论证了在具体的机器人上应用监督式控制的优点,分析和讨论了其软硬件结构和功能,最后对这个具体的项目的控制器设计实现进行了总结和展望。

In this paper we design and implement a controllerbased on supervisory control of a mobile scout robot, recommendand compare three traditional control methods. This paperdemonstrates the advantages of supervisory control to an actualrobot, analyzes and discusses the hardware and software architec-ture. In the end we summarize the design of the robot con-troller, and give the prospect of the controller based on supervi-sory control.

国家863计划项目(项目号:2002AA420070)