Researches And Implements Of The Mobile Robot's Visual Programming And Simulation System

With the development of technology, many kinds of robots have been used not only in the amusement market and the medical research field, but also in the modern wars. The automatous development of robots has been the trend. Microsoft Robotics Studios, the new robotics development tool of Microsoft, has promoted the development of robotics and given the idea renovation which made the robotics more visually.In this thesis, we developed a programming tool for the robot control and studied some key problems of the robot visual programming and simulation under the support of the National Natural Science Foundation of China (60475031) et al. The main contents of this paper are as follows:(1) An implement method of control strategy based on visual programming was described here. In this way, we can easily design the path planning and the obstacle avoiding modules of mobile robot without caring about the syntax of the programming language. Therefore, we can write the robot motion control program and simplify the running period of the whole robot system.(2) A design strategy of complier to complier and the method from the visual picture language to the controller pseudoinstruction code are presented.(3) Computer visualization and the object oriented method are the main tools for the robot simulation research. They can simulate the dynamic characteristics of robot and display the reasonable motion scheme and the control algorithm of the robot in the visual programming platform. Hence, the problems during the robot design and motion process are solved directly. This thesis is focused on the environment map construction, the physical characteristics of the simulated robot, the simulated motion characteristics of the sensors, the loading of robot motion control strategy and the system integrated technology which implemented the visual programming module and the simulation module.(4) To consummate the system function, we used the DLL to construct the language parse library of the simulation platform, the robot's motion control strategy with the environment objects and the sensed objects are displayed visually in a two dimension simulation environment. In this way, the language parse library was linked only when the program begins running, so it can resume the memory and can be easily called by the other language.