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路径的

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240003.pdf" target="mainFrame">1.2移动机器人的导航研究现状分析</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240004.pdf" target="mainFrame">1.3移动机器人路径跟踪及控制方法分析</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240005.pdf" target="mainFrame">1.4国内外自主移动机器人发展概况</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240006.pdf" target="mainFrame">1.5本论文完成的主要内容</a><br>

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<img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out2" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240007.pdf" target="mainFrame">第二章二维移动机器人的运动学分析</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240008.pdf" target="mainFrame">2.1引言</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out22" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240009.pdf" target="mainFrame">2.2二维移动机器人的运动学约束分析</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240010.pdf" target="mainFrame">2.2.1二维移动机器人的基本运动学描述</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240011.pdf" target="mainFrame">2.2.2移动机器人的非完整约束</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240012.pdf" target="mainFrame">2.2.3移动机器人的转向机构约束</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out23" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240013.pdf" target="mainFrame">2.3移动机器人的典型运动分析</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240014.pdf" target="mainFrame">2.3.1圆弧运动</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240015.pdf" target="mainFrame">2.3.2直线运动</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240016.pdf" target="mainFrame">2.4本章小节</a><br>

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<img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out3" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240017.pdf" target="mainFrame">第三章基于数字地图数据库系统的机器人全域规划</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out31" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240017.pdf" target="mainFrame">3.1发展与现状</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240019.pdf" target="mainFrame">3.1.1一般应用领域的地图数据库系统发展与现状</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240020.pdf" target="mainFrame">3.1.2移动机器人导航地图数据库发展与现状</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out32" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240021.pdf" target="mainFrame">3.2导航地图信息的结构及其基本特征</a><br>

<div ID="Out32d">

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240022.pdf" target="mainFrame">3.2.1导航地图信息的结构</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240023.pdf" target="mainFrame">3.2.2导航地图要素的基本特征</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out33" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240024.pdf" target="mainFrame">3.3导航地图数据库系统</a><br>

<div ID="Out33d">

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240025.pdf" target="mainFrame">3.3.1导航地图数据库系统要实现的目标</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240026.pdf" target="mainFrame">3.3.2实际应用中导航地图数据库系统的组成</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out34" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240027.pdf" target="mainFrame">3.4导航地图数据库的程序实现</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240028.pdf" target="mainFrame">3.4.1地图的选择或新地图的定义</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240029.pdf" target="mainFrame">3.4.2地图的编辑</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240030.pdf" target="mainFrame">3.4.3路径规划</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240031.pdf" target="mainFrame">3.4.4导航地图数据库的生成</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240032.pdf" target="mainFrame">3.4.5实例分析</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240033.pdf" target="mainFrame">3.5本章小结</a><br>

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<img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out4" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240034.pdf" target="mainFrame">第四章机器人局域规划</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240034.pdf" target="mainFrame">4.1引言</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out42" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240036.pdf" target="mainFrame">4.2当前环境的感知、识别和分类</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240037.pdf" target="mainFrame">4.2.1机器人自身位姿的确定</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240038.pdf" target="mainFrame">4.2.2当前环境的感知方法</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240039.pdf" target="mainFrame">4.2.3当前感知环境的特征提取</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240040.pdf" target="mainFrame">4.2.4训练样本数据库的建立</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out43" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240041.pdf" target="mainFrame">4.3移动机器人的安全避障距离分析</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240042.pdf" target="mainFrame">4.3.1移动机器人避开前方障碍物时的安全避障距离</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240043.pdf" target="mainFrame">4.3.2移动机器人避开侧面障碍物时的安全距离</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240044.pdf" target="mainFrame">4.3.3典型的复合障碍物的安全避障距离分析</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240045.pdf" target="mainFrame">4.3.4时滞对安全避障距离的要求</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out44" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240046.pdf" target="mainFrame">4.4模糊控制器的设计方法</a><br>

<div ID="Out44d">

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240047.pdf" target="mainFrame">4.4.1输入输出变量及其模糊化</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240048.pdf" target="mainFrame">4.4.2模糊推理</a><br>

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<img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240049.pdf" target="mainFrame">4.4本章小结</a><br>

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<img SRC="../../images/H.gif"><img SRC="../../images/ofolder.gif" ID="Out5" CLASS="Outline" STYLE="cursor:hand"><a href="y3693240050.pdf" target="mainFrame">第五章聪明贝贝的系统结构和行走实验分析</a><br><%EOF%>

<div ID="Out5d">

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240051.pdf" target="mainFrame">5.1移动机器人行走部分的系统结构</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240052.pdf" target="mainFrame">5.2聪明贝贝的硬件体系结构</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240053.pdf" target="mainFrame">5.3移动机器人导航的实验验证</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240054.pdf" target="mainFrame">5.4进一步研究所要解决的问题</a><br>

<img SRC="../../images/I.gif"><img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240055.pdf" target="mainFrame">5.5本章小结</a><br>

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<img SRC="../../images/H.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240056.pdf" target="mainFrame">参考文献</a><br>

<img SRC="../../images/L.gif"><img SRC="../../images/nfolder.gif"><a href="y3693240057.pdf" target="mainFrame">致谢</a><br>

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