Research On Simulation System For Autonomous Navigation Of Mobile Robot

With the rapid developments of computer science and multi-media technique, virtual reality and simulation technique are more and more being attached Importance to. They can be widely applied in industry, national defense, medical care and entertainment etc. The paper presents a simulation system based on virtual reality technique so as to simulate the automatic navigation of an intelligent robot in unknown environment.Through studying of robotics, computer graphics, 3D modulation and corresponding knowledge on Direct3D technique and theories which refers to simulation system of mobile robot, the project is divided into four parts: construction of virtual objects, design of the shader of an object, collision detection and movement control. The content and results are:A) It describes in detail the construction process of mathematics model of virtual objects. It is composed of three parts: the construction of robot model, virtual terrain model, and virtual environment.B) Using HLSL (high level shader language) and relating tools—Fx Composer, we design the shader of robot model, virtual terrain, and skybox. The effect parameters can be coordinated dynamically during programming. Virtual scene is authenticating in vision.C) It Studies collision detection algorithm, compares bounding sphere, bounding box, and convex hull to bounding. It investigates how to encapsulate object model by using convex hull, and how to detect collision according to HS-jump algorithm.D) Using Visual Studio.NET and Direct3D SDK, we design a framework of simulation system, which renders object model and realizes obstacle avoidance of the virtual robot. The circumstances can be viewed from different viewpoints. The simulation system is interactive.The simulation system realizes visual effects of robots in variousscenes. It demonstrates vividly automatic navigation of robots in unknown environments.