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1、文献原文TheinvestigationofanautonomousintelligentmobilerobotsystemforindoorenvironmentnavigationSKarelinAbstractTheautonomousmobileroboticssystemdesignedandimplementedforindoorenvironmentnavigationisanonholonomicdifferentialdrivesystemwithtwodrivingwheelsmountedonthesameaxisdrivenbytwoPI
2、Dcontrolledmotorsandtwocasterwheelsmountedinthefrontandbackrespectively.ItisfurnishedwithmultiplekindsofsensorssuchasIRdetectorsultrasonicsensors,laserlinegeneratorsandcameras,constitutingaperceivingsystemforexploringitssurroundings.Itscomputationsourceisasimultaneouslyrunningsystemc
3、omposedofmultiprocessorwithmultitaskandmultiprocessingprogramming・Hybridcontrolarchitectureisemployedonthermbilerobottoperformcomplextasks.ThemobilerobotsystemisimplementedattheCenterforIntelligentDesign,AutomationandManufacturingofCityUniversityofHongKong.Keywords:mobilerobot;intell
4、igentcontrol;sensors;navigationIntroductionWithincreasinginterestinapplicationofautonomousmobilerobotsinthefactoryandinserviceenvironments,manyinvestigationshavebeendoneinareassuchasdesign,sensing,controlandnavigation,etc.Autonomousreactiontotherealwand,exploringtheenvironment,follow
5、nngtheplannedpathwnthoutcollisionsandcarryingoutdesiredtasksarethemainrequirementsofintelligentmobilerobots.Ashumans,wecanconducttheseactionseasily.Forrobotshowever,itistremendouslydifficult.Anautonomousmobilerobotshouldmakeuseofvarioussensorstosensetheenvironmentandinterpretandorgan
6、izethesensedinformationtoplanasafemotionpathusingsomeappropriatealgorithmswhileexecutingitstasks.Manydifferentkindsofsenorshavebeenutilizedonmobilerobots,suchasrangesensors,lightsensors,forcesensors,soundsensors,shaftencoders,gyroscopes,forobstacleawidance,localization,rmtionsensing,
7、navigationandinternalrmnitoringrespectively.Manypeopleuseinfraredandultrasonicrangesensorstodetectobstaclesinitsreachingdomain.Laserrangefindersarealsoemployedinobstacleawidancebehaviorofmobilerobotsinclutteredspace.Camerasareoftenintroducedintothevisionsystemformobilerobotnavigation
8、.Althoughman
