Development of a mobile robot platform with standard vehicle functions

近年来，人们在自主移动机器人的计算机视觉、路径与任务规划等方面进行了大量的研究。这些研究已经达到了在真实机器人上对结果进行测试和评估的阶段。研究内容包括：(1)轮式移动机器人的机构，(2)车辆控制系统及其命令语言，(3)移动机器人的图像传感器和超声波传感器系统，(4)移动机器人的标准地图显示和路径规划，所有这些成果被集成到一个面向标准平台的移动机器人系统中，所开发的集成系统包括一个自给式自主移动机器人以及地面工作的支撑和开发系统。

Recently, many researches have been done on computer vision, path and task planning or other subjects on autonomous mobile robots. These researches have achieved to the step, on which, the results should be tested and evaluated on the real robot. This research has been done to provide standard autonomous mobile robot platform as a useful tool for such a step of robotics.In this research, we investigated on :(1) mechanism of the wheeled mobile robot,(2) vehicle control system and its command language,(3) image sensor and ultrasonic sensor system for mobile robots, and(4) standard map presentation and path planning for mobile robot.Then, all of these results were integrated to a standard platform oriented mobile robot system.The developed integrated system includes a self-contained and autonomous mobile robot, and support and development system which works on ground.