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  • 2009-11-26 09:10
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Pioneer3机器人的路径规划程序。包括所有源代码。实现机器人在已知地图环境中的路径规划,包括全局的路径规划和局部的修正的路劲规划。是研究路径规划和动态避障绝好的例子。运行方式:先在服务端执行justPathPlanningGuiServer,然后执行MobileEyes查看规划结果。
robotpathplanning.rar
  • justPathPlanningGuiServer
  • include
  • Aria
  • ArRobotPacketReceiver.h
    2.4KB
  • ArRobotParams.h
    11.9KB
  • ArSocket.h
    10KB
  • ArForbiddenRangeDevice.h
    2.5KB
  • ArSpeech.h
    4.5KB
  • ArFunctorASyncTask.h
    1.5KB
  • ariaTypedefs.h
    2.1KB
  • Aria.h
    3.7KB
  • ArTransform.h
    4.7KB
  • ArSignalHandler.h
    5.6KB
  • ArRecurrentTask.h
    3KB
  • ArCameraCommands.h
    5.8KB
  • ArLineFinder.h
    5.5KB
  • ArActionGroup.h
    2.7KB
  • ArModuleLoader.h
    2.4KB
  • ArActionLimiterTableSensor.h
    2KB
  • ArBasePacket.h
    8.5KB
  • ArP2Arm.h
    9.5KB
  • ArConfigGroup.h
    2.1KB
  • ArAnalogGyro.h
    8.8KB
  • ArFileParser.h
    6.5KB
  • ArBumpers.h
    1.9KB
  • ArSickPacket.h
    2.8KB
  • ArDrawingData.h
    8.6KB
  • ArSystemStatus.h
    5.8KB
  • ArResolver.h
    2.1KB
  • ArActionMovementParameters.h
    2.9KB
  • ArSonyPTZ.h
    4KB
  • ArGPS.h
    13.1KB
  • ArSoundsQueue.h
    16.5KB
  • ArRobotTypes.h
    6.2KB
  • ArASyncTask.h
    3.2KB
  • ArActionJoydrive.h
    3.9KB
  • ArActionLimiterForwards.h
    2.4KB
  • ArNetServer.h
    6.5KB
  • ArLog.h
    3.8KB
  • ArTcpConnection.h
    3.1KB
  • ArActionDriveDistance.h
    3.7KB
  • ArFunctor.h
    105.7KB
  • ArArg.h
    6.2KB
  • ArActionRobotJoydrive.h
    3.1KB
  • ArTCM2.h
    4.1KB
  • ArSyncLoop.h
    1.4KB
  • ArIRs.h
    1.6KB
  • ArSensorReading.h
    7.6KB
  • ArActionDeceleratingLimiter.h
    3.9KB
  • ArRobotPacket.h
    2.4KB
  • ArRangeDevice.h
    15.1KB
  • ArConfigArg.h
    9.8KB
  • ArKeyHandler.h
    4.7KB
  • ArSyncTask.h
    6.3KB
  • ArThread.h
    6.1KB
  • ArActionColorFollow.h
    3.7KB
  • ArDeviceConnection.h
    5.3KB
  • ArAction.h
    4.9KB
  • ArAMPTU.h
    4.9KB
  • wrapper_ExtraClasses.h
    2.3KB
  • ArSickPacketReceiver.h
    2.5KB
  • ArVersalogicIO.h
    5.2KB
  • ArGPSConnector.h
    3.5KB
  • ArActionAvoidSide.h
    2KB
  • ArSonarAutoDisabler.h
    1.9KB
  • ArRobotJoyHandler.h
    2.6KB
  • ArRobotPacketSender.h
    2.9KB
  • ArActionIRs.h
    2.5KB
  • ArSoundPlayer.h
    3.8KB
  • ArArgumentBuilder.h
    4.5KB
  • ArRatioInputRobotJoydrive.h
    1.8KB
  • ArSimpleConnector.h
    8.5KB
  • ArRatioInputJoydrive.h
    3.4KB
  • ArCommands.h
    7.5KB
  • ariaUtil.h
    43.2KB
  • ArCondition.h
    2.5KB
  • ArActionGroups.h
    7.1KB
  • ArPTZ.h
    11KB
  • ArActionRatioInput.h
    5.7KB
  • ArActionStop.h
    1.7KB
  • ArConfig.h
    13.6KB
  • ArRangeDeviceThreaded.h
    2.7KB
  • ArExport.h
    1.3KB
  • ArRobotConfig.h
    2.1KB
  • ArInterpolation.h
    2.4KB
  • proprietaryArGnuplot.h
    4.3KB
  • ArPixelDevice.h
    5KB
  • ariaInternal.h
    6KB
  • ArRobot.h
    50.1KB
  • ArNovatelGPS.h
    2.4KB
  • ArIrrfDevice.h
    2.4KB
  • ArMutex.h
    2.8KB
  • ArActionKeydrive.h
    3.5KB
  • ArSerialConnection.h
    4KB
  • ArSickLogger.h
    5.8KB
  • ArGripper.h
    5.4KB
  • ArPriorityResolver.h
    1.6KB
  • ArMap.h
    35.3KB
  • ArSick.h
    17KB
  • ArLogFileConnection.h
    2.8KB
内容介绍
----------------------------- MobileRobots - MobileEyes(TM) ---------------------------- 1.4.14 October 27, 2006 Copyright (c) 2004, 2005 ActivMedia Robotics, LLC. Copyright (c) 2006, MobileRobots Inc. All rights reserved. The license for use of this software is described in the LICENSE.txt file. MobileEyes(TM) is a graphical-user interface (GUI) for remote control of a MobileRobots or ActivMedia robot. Getting Started =============== MobileEyes connects over a network with any ARCSinside robot, with a central multi-robot server, or with another ArNetworking-based server (e.g. ARNL's example guiServer, or the example ArNetworking serverDemo). Double-click or otherwise launch MobileEyes. In Windows, choose Start menu->Programs->MobileRobots->MobileEyes->MobileEyes or double-click the MobileEyes icon on the desktop. In Linux, choose MobileEyes from the Gnome or KDE menu, or run "MobileEyes" in a terminal. (Linux requires that you are running X-Windows.) MobileEyes communicates with the server via TCP/IP networking (even if you are connecting to an ArNetworking server on the local computer). When MobileEyes starts up, enter a hostname or address in the "Robot Server:" field to tell it where the server is located on the network. Recent addresses can also be chosen from the drop down menu. This address is either an IP address, such as "192.168.100.1", or the computer hostname ("robot1", for example). If you have a user name and password for accessing this robot, enter them in the appropriate fields. Not all robot servers are configured to require user name login; if this is the case, you may leave these fields blank. Note: A user name and password are only required if the robot server has been configured to require user log in. (If you do not have a multi-robot central server, you can still control multiple robots with the same MobileEyes by listing the robots' server names in the Server Name field, separating each with a comma.) Once you have entered the Server Name, click the Connect button to access the robot over the network. Once connected, the first thing the robot server does is send MobileEyes a copy of the map it is using to navigate its environment. That map and the location of the robot in that map, goals and lots of other operating information get displayed in MobileEyes' Map window. If for some reason the connection cannot be made successfully, you may cancel the connection by clicking the Quit button. (MobileEyes may also tell you why the connection failed.) Restart MobileEyes and try again. Basic Operation =============== Some of the more common MobileEyes features and operations are described below. This README is not a comprehensive manual. For more detail, please consult other documentation that came with your robot, such as the PatrolBot manual, or the ARNL and SonARNL developer manuals. Tip: hold your mouse pointer over a control or button to see a longer description of its function. MobileEyes' display consists of several toolbars and panes. Which panes, toolbars, and buttons within toolbars are available depend on your robot server's capabilities and configuration. Panes may also be enabled and disabled using the View menu. Toolbars may be enabled and disabled by right-clicking on the toolbar area. Labels on the toolbar buttons may be enabled and disabled by right-clicking on the toolbar area and choosing Customize, or by choosing the Toolbar Labels item in the View menu. * At the top of MobileEyes is the menu bar and toolbars. * The robot mode fields is always visible above the map pane. These indicate the current mode of the robot, and the status of that mode. * The MobileEyes status bar is always visible at the bottom of the window. This displays status of the robot's battery, the network connection, MobileEyes drive mode, and mapping indicator. * The map pane displays the robot's self-determined location in its map, along with live sensor readings. Aspects of the map and different sensor readings can be enabled and disabled using the Map toolbar or the Map menu. * If enabled and supported by the robot, a pane will also be displayed for goals and routes. The Routes/Goals pane may be enabled and disabled using the View menu. * If enabled and supported by the robot, a pane will also be displayed for live video, and possible audio controls as well. The Audio/Video pane may be enabled and disabled using the View menu. * If enabled, a pane will be displayed below the map pane to display some details about the robot's status and activity. This pane may be enabled/disabled using the Details and the Custom Details items in the View menu. * If you are controlling multiple robots with MobileEyes, a pane will be displayed with each robot's status information, with which you may select a robot to control. You can resize these panes by clicking and dragging edges that separate panes. Tip: Some panes can be operated by the keyboard, e.g. to move the camera or drive the robot. Only one pane can accept keyboard input at a time. Select a pane for keyboard input by clicking on it; the selected pane will contain a dark blue border. Some panes include small toolbars with commands specific to the features contained within that pane. For example, a set of controls for using the pan/tilt camera appears above the video image. Hover your mouse pointer over a button to see a description of that button. Map and Robot ============= In the Map pane, MobileEyes displays an icon representing the robot and locates it and its travels in a 2-D map of its operating environment. The Map pane also contains dynamic "artifacts" that represent what the robot's various sensors "see" in the real environment, such as the blue-dots associated with laser readings. Other transient lines and dots appear depending on the robot's activities, such as a multi-segmented blue line that represents the path the robot has planned for traversing from one goal to the next. By default, MobileEyes starts up with the entire map visible and the robot located somewhere within. You can zoom and pan the map in this mode, but depending on those setting, your robot may disappear off-screen. Use the corresponding toolbar button or check the Map menu Center Robot option to put the robot in the center of the Map pane and have the map move around it. However, you cannot pan the map when the robot is centered. Zoom and pan the Map pane contents to get the best view by using the toolbar buttons, the mouse, or the keyboard. They are not exclusive; you may pan with the mouse and zoom from the keyboard, for example. To pan the map contents (robot not centered) with the mouse, click and hold the right button and move the mouse around. Zoom in and out by rotating the mouse wheel. If you do not have a mouse wheel you can shift left click to zoom out and shift right click to zoom in. Also, when selected for keyboard input, you may pan the map with the left, right, down, and up arrow keys. To zoom, hold the Shift key and press the up-arrow key (in) or down-arrow key (out). Select the Map menu's Fit in Window option to automatically reset map pan and zoom to show the entire map; this can be used if you pan too far away from the map contents. If you are connected to mulitple robots with MobileEyes, a tool will appear in the toolbar called "Pick Robot". With this tool enabled, you can click on a robot icon in the map to select that robot for control. Goals and Routes ================ If the robot has a map, it may contain named goals. These goal names correspond to actual places and may also specify which direction (heading) the robot should turn to when it reaches the goal. Goal names appear in the Routes and Goals pane. To have your robot go to goal, simply double-click the goal name in the pane, or left-click to highlig
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