Abstract
According to the application of the planet detection, the kinematics model of six wheels rock-bogie robot was studied in this paper. A corresponding robot movement simulation system based on stereo vision and virtual reality was developed. The system provided motion parameters of virtual robot to real robot by means of out-line teaching, which ensured the robot’s safety. The visual orientation theory and the simulation system realization based on OpenGL were introduced in detail. The simulation was finished based on synthesis terrain and real terrain, and the results show that the system possesses preferable interactive characteristic, and will provide some key techniques for virtual navigation, teleoperation of planetary exploration robot.
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Gao, H., Chen, F., Li, D., Yu, Y. (2011). Movement Simulation for Wheeled Mobile Robot Based on Stereo Vision. In: Shen, G., Huang, X. (eds) Advanced Research on Electronic Commerce, Web Application, and Communication. ECWAC 2011. Communications in Computer and Information Science, vol 143. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-20367-1_64
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DOI: https://doi.org/10.1007/978-3-642-20367-1_64
Publisher Name: Springer, Berlin, Heidelberg
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