采用模糊逻辑控制使自主机器人避障设计------外文翻译.doc
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采用模糊逻辑控制使自主机器人避障设计------外文翻译,2. physical robot implementation2.1. chassis and sensorsthe robotic vehicle's chassis was constructed from an excalibur ei-msd2003 remote control toy tank. the ...
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2. PHYSICAL ROBOT IMPLEMENTATION
2.1. Chassis and sensors
The robotic vehicle's chassis was constructed from an Excalibur EI-MSD2003 remote control toy tank. The device was stripped of all electronics, gears, and extraneous parts in order to work with just the empty case and two DC motors for the tank treads. However, this left a somewhat uneven surface to work on, so high-density polyethylene (HDPE) rods were used to fill in empty spaces. Since HDPE has a rather low surface energy, which is not ideal for bonding with other materials, a propane torch was used to raise surface temperature and improve bonding with an epoxy adhesive. 机器人车辆的底盘构造神剑EI MSD2003遥控玩具坦克。该设备被剥夺了所有的电子设备，齿轮和多余的部分，为了工作，只是空的情况下，两个直流电机的坦克履带。然而，这留下了一个有点凹凸不平的表面，如此高密度聚乙烯（HDPE）棒被用来填充空格。由于高密度聚乙烯具有相当低的表面能，这是不理想的与其它材料的接合，用丙烷喷灯，以提高表面温度和提高用环氧粘合剂接合。
Three Sharp GP2D12 infrared sensors, which have a range of 10 to 80 cm, were used for distance measurements. In order to mount these appropriately, a 2.5 by 15 cm piece of aluminum was bent into three even pieces at 135 degree angles. This allows for the IR sensors to take three different measurements at 45 degree angles (right, middle, and left distances). This sensor mount was then attached to an HDPE rod with mounting tape and the rod was glued to the tank base with epoxy. Since the minimum distance that can be reliably measured with these sensors is 10 cm, the sensors were placed about 9 cm from the front of the vehicle. This allowed measurements to be taken very close to the front of the robot.
三尖GP2D12红外传感器，其中有一个10〜80厘米范围内，分别用于测量距离。为了安装这些适当， 2.5 x 15厘米的一块铝在135度的角度弯曲成三连件。这允许采取三种不同的测量，以45度角（右，中间和左边的距离）的红外线传感器。此传感器安装，然后连接到安装胶带HDPE棒杆用环氧树脂粘在坦克基地。由于能够可靠地与这些传感器测量的最小距离是10厘米，从车辆前方的传感器被放置约9厘米。这允许测量应采取非常接近的机器人面前。
2.1. Chassis and sensors
The robotic vehicle's chassis was constructed from an Excalibur EI-MSD2003 remote control toy tank. The device was stripped of all electronics, gears, and extraneous parts in order to work with just the empty case and two DC motors for the tank treads. However, this left a somewhat uneven surface to work on, so high-density polyethylene (HDPE) rods were used to fill in empty spaces. Since HDPE has a rather low surface energy, which is not ideal for bonding with other materials, a propane torch was used to raise surface temperature and improve bonding with an epoxy adhesive. 机器人车辆的底盘构造神剑EI MSD2003遥控玩具坦克。该设备被剥夺了所有的电子设备，齿轮和多余的部分，为了工作，只是空的情况下，两个直流电机的坦克履带。然而，这留下了一个有点凹凸不平的表面，如此高密度聚乙烯（HDPE）棒被用来填充空格。由于高密度聚乙烯具有相当低的表面能，这是不理想的与其它材料的接合，用丙烷喷灯，以提高表面温度和提高用环氧粘合剂接合。
Three Sharp GP2D12 infrared sensors, which have a range of 10 to 80 cm, were used for distance measurements. In order to mount these appropriately, a 2.5 by 15 cm piece of aluminum was bent into three even pieces at 135 degree angles. This allows for the IR sensors to take three different measurements at 45 degree angles (right, middle, and left distances). This sensor mount was then attached to an HDPE rod with mounting tape and the rod was glued to the tank base with epoxy. Since the minimum distance that can be reliably measured with these sensors is 10 cm, the sensors were placed about 9 cm from the front of the vehicle. This allowed measurements to be taken very close to the front of the robot.
三尖GP2D12红外传感器，其中有一个10〜80厘米范围内，分别用于测量距离。为了安装这些适当， 2.5 x 15厘米的一块铝在135度的角度弯曲成三连件。这允许采取三种不同的测量，以45度角（右，中间和左边的距离）的红外线传感器。此传感器安装，然后连接到安装胶带HDPE棒杆用环氧树脂粘在坦克基地。由于能够可靠地与这些传感器测量的最小距离是10厘米，从车辆前方的传感器被放置约9厘米。这允许测量应采取非常接近的机器人面前。
