CAJ | 학술논문

以外接激光测距仪的 Pioneer3-AT 移动机器人作为物理平台，用 ARIA-Matlab 接口软件实现对物理平台的控制与通信。通过 Simulink 自定义模块封装 Bug 算法，设计 Matlab Graphical User Interfaces （GUI）界面设置仿真参数和动态显示仿真结果。经由笔者开发的折线 Bug 与圆弧 Bug 算法实验表明，该软件可灵活执行纯仿真、半实物仿真与物理执行3种工作方式，实验结果与实际情况吻合，验证了 Bug 避障算法，对经由传感器实时数据采集的路径规划算法研究具有参考意义。
이외접격광측거의적 Pioneer3-AT 이동궤기인작위물리평태，용 ARIA-Matlab 접구연건실현대물리평태적공제여통신。통과 Simulink 자정의모괴봉장 Bug 산법，설계 Matlab Graphical User Interfaces （GUI）계면설치방진삼수화동태현시방진결과。경유필자개발적절선 Bug 여원호 Bug 산법실험표명，해연건가령활집행순방진、반실물방진여물리집행3충공작방식，실험결과여실제정황문합，험증료 Bug 피장산법，대경유전감기실시수거채집적로경규화산법연구구유삼고의의。
A Pioneer3-AT mobile robot with laser range finder is employed as physical platform,and ARIA-Matlab software is used as a tool to communication.The path planning unit is designed as self-definition blocks in Simulink to implement two BUG algorithms.A Matlab Graphical User Interfaces (GUI)complete is developed for parameter setting and results displaying.As demonstrated by Broken-Bug and Arc-Bug algorithm developed by our team,the software presented work flexible both pure simu-lation,HIL simulation and physical implement with convinced results.Therefore,this software is a versatile and convenient tool for BUG algorithm development and verification,and is expected to work well with other sensor-based path planning algorithms with proper modification.