Movement Simulation for Wheeled Mobile Robot Based on Stereo Vision

被引：0
|
作者：
Gao, Hongwei [1 ]
Chen, Fuguo [1 ]
Li, Dong [1 ]
Yu, Yang [1 ]
机构：
[1] Shenyang Ligong Univ, Sch Informat Sci & Engn, Shenyang 110159, Peoples R China
来源：
ADVANCED RESEARCH ON ELECTRONIC COMMERCE, WEB APPLICATION, AND COMMUNICATION, PT 1 | 2011年 / 143卷
关键词：
Wheeled mobile robot (WMR); Kinematics model; Stereo vision; Off-line teaching;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
According to the application of the planet detection, the kinematics model of six wheels rock-bogie robot was studied in this paper. A corresponding robot movement simulation system based on stereo vision and virtual reality was developed. The system provided motion parameters of virtual robot to real robot by means of out-line teaching, which ensured the robot's safety. The visual orientation theory and the simulation system realization based on OpenGL were introduced in detail. The simulation was finished based on synthesis terrain and real terrain, and the results show that the system possesses preferable interactive characteristic, and will provide some key techniques for virtual navigation, teleoperation of planetary exploration robot.
引用
收藏
页码：396 / 401
页数：6
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