摘要
该文基于机器人操作系统(ROS)仿真环境提出一种开放性的无人机仿真实验教学方案,通过ROS集成的可视化功能,利用Kinect等设备获取环境信息、搭建无人机动力学模型和三维可视化模型,设计三维环境航迹规划算法,并通过动态演示技术,实现ROS环境下的无人机航迹规划动态演示,使学生能够从开放性试验中实现无人机的运动控制、航迹规划和可视化编程等技术。基于ROS的无人机仿真实验是运动控制、规划算法、可视化编程等技术的一种典型的综合性应用,有助于学生深入学习无人机的原理和航迹规划方法。教学实践证明开放性教学方案在教学实践中取得较满意的效果。
Based on the robot operating system （ROS） simulation enviromenta, this paper presents an open experimental teach- ing plan for UAV. Through the visualization functions of ROS, environmental information is acquired by using Kinect and other de- vices, and the UVA dynamics model and 3D visualization model are established. Design 3D environmental track planning algorithm, and through the dynamic demonstration technology, the dynamic environment of the UAV trajectory planning dynamic demonstration can be achieved. It enables students to implement unmanned aerial vehicle motion control, track planning and visual programming from open experiments. The ROS-based drone simulation experiment is a typical comprehensive application of technologies such as motion control, planning algorithm and visual programming, which helps students to further study the principle of UAV and the route planning method. The teaching practice has proved that the open teacing program has achieved satisfictory results in teaching practice.
出处
《实验科学与技术》
2018年第1期40-43,共4页
Experiment Science and Technology
基金
浙江省高等教学改革项目(JG2015026)
浙江工业大学教学改革项目(KG201514)
浙江省精品公开课(JPZX1507)
