摘要
采用面向对象的方法设计了一个自主移动机器人系统——Frontier-I,并将Linux/Unix下的进程间通信机制应用到系统的设计中.该系统基于Windows操作系统,采用全向视觉,能够实现诸如避障、导航和机器人足球等复杂的任务;在模块化的设计下,系统能够方便地加入新的模块以扩展其功能.
A modular and object oriented approach was used to construct an autonomous mobile robot system. IPC (inter-process communication), which is the key mechanism in Linux/Unix operation system, was applied to the robot design. Based on Windows operation system, the robot owns an omnivision, and can finish tasks such obstacle detection obstacle barrier as navigation and robot soccer. With a modular design, new components can be easily added to the system. The robot was applied to a multi-robot task. The experimental results show the good performance of the robot.
出处
《上海交通大学学报》
EI
CAS
CSCD
北大核心
2005年第6期905-909,共5页
Journal of Shanghai Jiaotong University
