matlab英文材料-基于matlab的仿真(含中文翻译)

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1、AMatlab-basedSimulatorforAutonomousMobileRobotsAbstractMatlabisapowerfulsoftwaredevelopmenttoolandcandramaticallyreducetheprogrammingworkloadduringtheperiodofalgorithmdevelopmentandtheoryresearch.Unfortunately,mostofcommercialrobotsimulatorsdonotsupportMatlab

2、.ThispaperpresentsaMatlab-basedsimulatorforalgorithmdevelopmentof2Dindoorrobotnavigation.Itprovidesasimpleuserinterfaceforconstructingrobotmodelsandindoorenvironmentmodels,includingvisualobservationsforthealgorithmstobetested.Experimentalresultsarepresentedto

3、showthefeasibilityandperformanceoftheproposedsimulator.Keywords:Mobilerobot,Navigation,Simulator,Matlab1.IntroductionNavigationistheessentialabilitythatamobilerobot.Duringthedevelopmentofnewnavigationalgorithms,itisnecessarytotesttheminsimulatedrobotsandenvir

4、onmentsbeforethetestingonrealrobotsandtherealworld.Thisisbecause(i)thepricesofrobotsareexpansive;(ii)theuntestedalgorithmmaydamagetherobotduringtheexperiment;(iii)difficultiesontheconstructionandalternationofsystemmodelsundernoisebackground;(iv)thetransientst

5、ateisdifficulttotrackprecisely;and(v)themeasurementstotheexternalbeaconsarehiddenduringtheexperiment,butthisinformationisoftenhelpfulfordebuggingandupdatingthealgorithms.Thesoftwaresimulatorcouldbeagoodsolutionfortheseproblems.Agoodsimulatorcouldprovidemanydi

6、fferentenvironmentstohelptheresearcherstofindoutproblemsintheiralgorithmsindifferentkindsofmobilerobots.Inordertosolvetheproblemslistedabove,thissimulatorissupposedtobeabletomonitorsystemstatesclosely.Italsoshouldhaveflexibleandfriendlyusers’interfacetodevelo

7、pallkindsofalgorithms.Uptonow,manycommercialsimulatorswithgoodperformancehavebeendeveloped.Forinstance,MOBOTSIMisa2Dsimulatorforwindows,whichprovidesagraphicinterfacetobuildenvironments[1].Butitonlysupportslimitedrobotmodels(differentialdrivenrobotswithdistan

8、cesensorsonly),andisunabletodealwithonvisualbasedalgorithms.Bugworksisaverysimplesimulatorprovidingdrag-and-placeinterface[2];butitprovidesveryprimitivefunctionsandismorelikeademonstratio