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jx0343-自行走轮椅带cad和文档

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jx0343-自行走轮椅（带cad和文档）,jx0343-自行走轮椅带cad和文档

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1 2 1.1 . 4 1.2 5 1.3 5 2 .7 2.1 7 2.2 9 2.3 巽 .10 3 .11 3.1 11 3.2 綯 11 3.3 12 4 .13 4.1 .14 5 14 5.1 . 14 5.2 . 14 . 15 .18 . 19 1.1 仯 ,幦.,., 綯 1 綯綯綯磬 漰 ? İ滮 漰İ滮 ?鱨30仯 3 棺 棺棺棺綯 4 綯綯綯綯綯綯綯 5 1.2 ,İ 1. , 趨/, 5, , / 2. , ;, 1.3 綯Y160M1 10km/h, 2.1 1 1, /S 1.1仯仯, , / ,XY 1 2 X, Y, ,XY,2F/Sl Sr 2 : Sl =Cx Fx +Cy FySmax(1) Sr =- Cx Fx +Cy FySmax(2) , Smax, Cx, Cy , 3, /Sl Sr , , , , ; , , , , 360 3/ 1.2S (1) S,S4, , , , ; , 滺4S, 4S (2) 仯仯, 1.5 m / s20.5 m / s2仯1.5 m / s3 , T, K, 涨tSmax , : K =Smaxt/T=SmaxtT (3) 4, : K1 K2 K3 = 1 1.92 2.6, K1K2K3 , 2.2 , , , 3 , 綯, 5 5 , V +V - 綯DSP AD, V +V - R1R2 , , 綯, 5H, R2R16 2.3 巽 綯綯綯 綯 3.1 綯綯 綯綯 3.2 綯 綯10km/h綯 = = 綯Y160M1 綯720 3.3 STL298N46V3A2AH綯綯裬仯 4.1 7, ; 黯, 7 塢 5.1 , 黯, , , S , , , , (863) 2006l 黯 DA 5.2 趨 61 1J. P. Hong, H. MSh im, S. B. J ung, et al. A SteeringA l2go rithm of TheMCU Based Controller For Two2Wheel Drive Vehi2cles. Industrial Electron ics, Proceedings J . IEEE Internation2al Symposium, 2001, 3 (6 ) : 1887 21890. 2 H. M. Sh im, J. P. Hong, S. B. Chung, et al. PoweredWheelchair Cont ro ller Based onMaster2Slave Con tro lArchtecture.Industrial Electronics, Proceedings J . IEEE In ternationalSymposium, 2001 , 3 ( 6) : 155321556. 3. (2) M . : , 4.M.磬20023 5.M.磬20008 6.M.磬19982 7.M.磬19967 8KorenY and BroensteinjPotential Field Methods and their Limitations for mobile Robot NavigationIEEE IntConfon Robotics and Automation1 99 11 3981404 9滮J2006(12)23“-25 10磬滮緽J 200430(6)28 1 lGang FengA Compensating Scheme for Robot Tracking Based Oil Neural Networks Robotics and Autonomous Systems1 9951 99-206 1 2Yang Simon XMeng MaxAn Effcient Neural Network Method for Real-time Motion Planning with Safety ConsiderationRobot and Autonomous Systems2000 13滮200310(50)12 14滮 200520(3)1“-3 15滮森人 200322(3)13 16滮200123(7)14 1 7200524(5)1“-5 1 8Levent Yenilmez,Hakan TemeltasReal Time Multi-Sensor Fusion And Navigation For Mobile RobotsElectroteehnical Conference1 998VOL122 1“-225 19MJ磬 2000 20 1994ll(5)513519 21Chang and Song Ultrasonic Sensor Data integrationJJournal of Robotic System1996 8(3)664667 22D2002 23D2006 24廪磬2003 25磬2004 26Kundu,A(USWest Advanced Technologies)Bayya,ASpeech recognition using hybrid hidden Markov model and NN classifierInternational Journal of Speech Technology1998 V012(3)227240 27J2008 24(8)99-1 02 28D 29r壮(SPCE061A) 廪磮2005 30磬 2006 3lD2007 32T-SPCE061AJ 2008(14)2225 3316磬2003 342002(3)3“-6 35HMM 2003(10)12“-14 36磬2003 372006(4)810 38磬200625(2)50-52 39CX201062004(499)53 40滮D人 4 1KFujimura,HSamet A hierarchical strategy for path planning among moving obstacles IEEE Transactions 01“1 Robotics and Automation1 9895(1)6 1-69 422006(3) 43D 44滮D 45滮2002 46KKant and SwZuker,Trajectory Planning ProblemsDetermining Velocity Along a fixed pathMcGili University 1 984 47滮D2006 48廯2003(1) 36-40 49 23(5)613“-616 f50D2005 51D2001 Al 缰 A1. 1 :,mm, Al. 2 mm. A1. 3 mm, Al. 4 ,mmo Al. 5 Mm. Al-6 ,kg, Al. 7 kg. Al.8 Al-9 kPa0 A2 A2.1 綯:; V