【摘要】 在未知环境中对移动机器人的控制方法是机器人学和智能控制学的一个重要领域。本文提出了一种基于组态方法的机器人控制系统的结构设计,并提供工业级的、有强大支持的控制系统开发平台IAP(工业自动化通用平台)来控制具有感知系统且能够进行决策规划和执行控制的自主移动机器人。具体介绍控制组态元件的算法原理和使用方法,通过实现机器人避障策略的实验,不仅表明了该控制系统能达到实时控制的目的,同时体现了用IAP平台开发控制系统周期短效率等特点。更多还原

【Abstract】 The control method of mobile robot under unknown circumstances has become an important erea in the study of robot and intelligent control. This paper has come up with a constructure design of robot control system which is based on graphical configuration, and provide a industrial,strongly supported control system developing platform IAP(industry automation platform) to control automatic robot that is equipped with sensor system,can conduct decision-making and self-control. Details about the algorithm and use of control configuration component are given in this paper. The experiment of realizing robot obstacle avoidance strategy shows that not only the control system can achieve the goal of real-time controlling, the IAP platform have the advantages of short developing circle and high efficiency.更多还原