快速自动机器人人平台外文翻译

机械专业外语文献翻译 系 别 机电工程 系 专 业 机械设计制造及其自动化 班 级 学生姓名 学 号 日 期 A is a 2A of or as a an is by of is be of as In is of as is an of a in an is as T is a to R is a to tVis at is is to of A is . : a a (0,0) . In an at of is is to be in in at of of a a , be 2000). of nd be as a a be It be as an up in be a or of is a in a is is to at A of is a to : be at a of is . (2004). or is in an A of be a on to a . A is to is an of (A or a in is of ro to : is an of is on it is on to is of is to go . In to it to is as . A to an is to An be is he T. a m*G(d). is a G() is is of is of We it is to of by to at a in ro be as to O. is is of ) A in to be as of to ro is as in at a 00% .0 m/is in : m/0: m/1: m/to of A of is to a a in to if be in by of to of to be a of a by to s is of of is J (1991) 8.1 F P (1986). a of It is to of is of of a is it is so 12. If go If a If in of in “on is be as v is of of is of 2. p& p is of to of no is is as of at in An of it A is it 2: 3 m/as up a 1000) of is a of to a As a of a is a by be of in to do A is on as a is on of is is It is cm to at 2 3: of of a to a a 12 mm on in to of is on a it be by to it up of by a :50) a :2). is a 12 C A on of is by a to is a it a of is a to on a of a to in of in 2mm of is to a 20of is in a al u to a a 4: al u On of in to of of at to on is to to to of 125A is to to in 5 an 5: of as a a A is be a A is a in of It is or to in of of a 12In re of is to on a or a 3-4 in is up on to an to be of a to A 700uF is on is by as by a 0nF 00nF on a a is on 2is 00 to be an is by at in 90is as At a is a it is to a be a to do a in of as 0a on on as ED a is by of to of is a on to t g .X A of be in 6: At of 4A) 0of is is of is it of be by be .3 m of a in a 6 4 1. by of of be to a to a 7: of a a 2 12V V) a 7, p is a 2V. is V. V1 is a 47in a 8. 0 by of as up of be .3 8: of a a 2003), on an O be to at a dB 2as it dB is 9 is to in to at 9 9: in (15) . (16) of it is of is of be in 0: 快速自动机器人人平台 向量场 一个向量场实质是由一个 2个向量由大小和方向组成，向量对于速度和航向角而言相当重要。 大小被认为是向量场中很重要的问题，大小对于通过每个向量组合成为向量场是很有用的。越重要的向量越长，航向角贴近的是更加重要的向量。 一些向量场产生器，像是基础的势场产生法，是不考虑大小的。这种情况下大小经常被忽略。 势场的一些理论像是轨迹的概念是从物理领域中的电学部分中分化而出的。 引力场公式如下： 这里 是一个冲起始到目标位置的向 量 是一个从起始指向机器人的向量 是一个表征机器人当前位置的单位化的长度和预计的角度。结果是指向目标的。引力场是关联其中的可视的指引。斥力场产生背向目标的向量。等式是 表格 6展示了一个引力场指向目标点（ 在当前应用的机器人仅有当前位置的向量才加入计算 ，对于多为图表像表格 6这样，机器人可以在场中任何可能的地方，同时也可以在任何点长生向量。 表格 6：引力场 极限环是非线性控制理论的一部分。但是一个表格能够表现极限环的属性，像是表格 7，那么这个表格便可以适应路径生成。此问题更深入的解读请阅读 2000）。极限环的非线性功能的第二位表现为一个向量场包含一个单位环。单位环外的向量将产生于单位环相切的方向。这可以看成是一个圆弧 /圆轨迹生成率可以引导机器人自动从任何方向进入该圆。最终生成的向量场可以用来产生圆弧轨迹或者是用于避障。 极限环的缺点在于一旦机器恩跨过了单位元，向量场将指向中心。所以，具体实现极限环控制并不容易，因为机器人在接近单位圆时可能会稍稍的越过边界。 这种场在单位环内进行修改时一个解决此种问题的可行的措施 。 对图表 7：极限环 量场的融合 所有的可提供向量场都可以在同一时间进行讨论。作者开发了一种可供合并向量场合并的方法，该方法在 (2004)中论述。 约束和要求： 这种方法最好用一个例子来描述。一个典型的需要向量场合并的地方在于当一个机器人 在路上相遇去目标 下面图表 8。 在融合向量场过程中，需要一个加权函数。经验已经证明，高斯正态分布函数在合并两个场域是很合适的方式。（一个圆 柱体或是一个椎体都可能产生一个突然的冲击以使航向角发生变化并产生激发不稳定现象。） 图表 8：回避方案 那个 角是表征机器人和障碍物碰撞程度的量。这个角度越小，碰撞事件发生的情况就越小，同时避开障碍物的可能性越高。 入考虑，那个机器人就必须计算障碍物和自己的距离。这个距离在式子中是以矢量 障碍物的距离越短就意味着避开障碍物的重要性越大。 一个回避向量场 应该被定义的和任务向量场 准化后的目标向量是 。 提供的两个向量 和 是用高斯加权方程 加在一起的 这里： 是结果典型的目标向量 G()是高斯方程。 , 是对高斯方程的安 全系数 是高斯方程的分布 我们可以知道要回避一个障碍，本质上有两个因素。 , 和 作者按对于在场域内特定点完成这个任务的重要程度关联每个向量的长度来作为向量融合的基础原则。 呢个 , 的长度。 表示