CAJ | 학술논문

针对小车寻迹研究的传统方法中存在的研发成本高、开发周期长的问题，提出了一种虚拟实现方法，在Visual Studio 2010开发环境下完成对小车寻迹过程的动态模拟。利用 OpenGL 对小车寻迹场景、小车及轨迹线进行了虚拟建模；依据坐标匹配的原理，实现小车在虚拟环境下的预设直线轨迹与曲线轨迹的寻迹仿真。意在从视觉上为机器人控制系统的研究提供一种动态仿真的工具，并进一步为控制系统参数调整及性能指标的分析提供新的研究思路。
침대소차심적연구적전통방법중존재적연발성본고、개발주기장적문제，제출료일충허의실현방법，재Visual Studio 2010개발배경하완성대소차심적과정적동태모의。이용 OpenGL 대소차심적장경、소차급궤적선진행료허의건모；의거좌표필배적원리，실현소차재허의배경하적예설직선궤적여곡선궤적적심적방진。의재종시각상위궤기인공제계통적연구제공일충동태방진적공구，병진일보위공제계통삼수조정급성능지표적분석제공신적연구사로。
To solve the problems of high cost and long development cycle that exist in traditional studies of car tracing, this paper presents a virtual implementation, thus completing the dynamic simulation of the car tracing process in the Visual Studio 2010 development environment. OpenGL is used on virtual modeling for the car tracing scene, the car and the trajectories. Based on the principle of coordinates matching, the car tracing simulation of the default linear trajectory and curve trajectory is achieved in a virtual environment. This paper is intended to provide a dynamic simula-tion tool for the research of robot control system from the vision, and to further provide new research ideas for the con-trol parameter tuning and performance indicators analysis.