摘要
针对机器人运动学教学中涉及学科多、理论背景深厚、分析难度大、面临移动机器人设备少难以实现等难题,借助MATLAB机器人工具箱,在有限课时的教学中,充分向学生展示各种移动机器人的定位与导航算法,专注于SLAM、Dijkstra法、A*、D*、PRM等移动机器人建图及径规划算法的改进过程,对实现效果及应用场景等进行分析.仿真教学易于提高学生的兴趣,且让学生对移动机器人的路径规划有全局的视野,便于后续选择方向进行深入研究.
In view of the problems involved in the teaching of robot kinematics,such as many disciplines,deep theoretical background,difficult analysis,few mobile robot equipment and difficult realization.This paper fully shows the students the positioning and navigation algorithms of various mobile robots,with the help of MATLAB robot toolbox,in the teaching of limited class hours,Which focus on the improvement process of SLAM,Dijkstra algorithms,A*algorithms,D*algorithms,PRM and other mobile robot mapping and path planning algorithms,and analyze the implementation effect and Application scenarios.Simulation teaching is easy to improve students'interest,and let students have a global vision of mobile robot path planning,which is advantageous to subsequent in-depth research.
作者
侯丽
桂伟
Houli;Guiwei(Wuhan Business University,Wuhan Hubei 430056)
出处
《网络空间安全》
2021年第5期65-68,共4页
Cyberspace Security
基金
2018年武汉商学院校级教学改革研究项目“《机器人运动控制》课程的虚拟仿真辅助教学研究”成果之一(项目编号:2018N031)
2018教育部首批“新工科”研究与实践项目“机器人工程专业—主双站式工程实践育人体系构建与实践”成果之一。
关键词
移动机器人
路径规划
辅助教学
路径导航
mobile robot
path planning
auxiliary teaching
path navigation
