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1、河北工业大学博士学位论文面向虚拟现实和遥操作的移动机器人同步定位与地图创建技术研究姓名：崔峰申请学位级别：博士专业：机械制造及其自动化指导教师：张明路20071001面向虚拟现实和遥操作的移动机器人同步定位与地图创建技术研究通过增加高增益天线改善了普通的WLAN通信距离短的缺点，把通信距离成功拓展到数公里之外。针对视频传输对带宽要求较大的问题，研究并设计了多线程的传输方式，进一步提高了传输速率。GPRS作为辅助方式，以AT命令的方式发送指令遥控机器人运行，或启动机器人控制器来完成建图或者遥操作工作。5.本文分别在操场、办
2、公室、走廊等环境进行了一系列地图自主创建实验。实验表明机器人能够实时地完成三维模型的创建并具有较高的精度，所生成的地图能够给操作员带来很好的沉浸感。关键词：自主移动机器人，虚拟现实，遥操作，同步定位，地图自主生成，三维地图ii河北工业大学博士学位论文RESEARCHONSIMULTANEOUSLOCATIONANDMAPBUILDINGOFMOBILEROBOTFORVIRTUALREALITYANDTELEOPERATIONABSTRACTWiththerapiddevelopmentoftherobot,comput
3、erandspacenavigationtechnologyandsyncretizationbetweenthemtheseyears,therobotisappliedmoreandmorewidelyintheexplorationoftheunknownenvironment.Toexploretheunknownenvironment,therobotshouldhavetheabilityofself-navigation,self-electronicmapproductionandtransmission
4、.Furthermore,tocompletesomespecialassignment,therobotshouldbeundertheteleoperation.Indecadeyears,therehasbeenmuchharvestinthefieldofrobotself-electronicmapproductionandteleoperationthroughouttheworld.Whiletheself-electronicmapproductionandteleoperationareseparate
5、dintheseresults,thatis,themaponlycanbeendisplayed,andtheteleoperationmostlyneedbeencarriedoutbytheremotevideo.Thentheproblemappearsthattheoperatordoesn’tknowthepositionoftherobotwhentelecontrolsit,soitisdifficulttogetawholeplanoftherobotmovement.SupportedbyHi-tec
6、hResearchandDevelopmentProgramofChina(No.2003AA421040),theauthorhasdonedeepresearchontheaboveprobleminthisessay.Itestablishedamobilerobotsimultaneouslocalizationandmapbuildingsystemtovirtualrealityandteleoperation,whichcanbuild3Dmodelanddisplaythesolidgraphics,an
7、dcontroltherobotbythewirelessLANwithvirtualrealitysystem.Inthemeantime,thesystemmaketheoperatorfeelintherealenvironmentbasedonthecharacterofthevirtualreality.Exploringtheenvironmentbyultrasonicsensors,theessayresearchedtheHEBUT-IImobilerobot,andstatedthreepointsa
8、sfollows:thesimultaneouslocalizationoftherobotandtheautonomouslybuilded3Dmap,fromthe3Dmaptoestablishingthevirtualrealitysystem,teleoperationoftherobotbasedonth
