机器学习_Wall-Following Robot Navigation Data Set(沿墙壁移动机器人导航数据集)

Path Planning Robot NavigationPath planning and robot navigation are crucial aspects of autonomous systems, especially in the field of robotics. The ability of a robot to navigate through its environment and plan its path effectively is essential for its successful operation. This is particularly important in scenarios where the environment is dynamic and constantly changing, such as in outdoor environments or in environments with moving obstacles.One of the key challenges in path planning and robot navigation is the need to balance between exploration and exploitation. On one hand, the robot needs to explore its environment to gather information about the obstacles and potential paths, and on the other hand, it needs to exploit this information to make efficient decisions about its path. This balance is crucial for ensuring that the robot can navigate through its environment effectively while avoiding potential obstacles and hazards.Another important aspect of path planning and robot navigation is the need for robust and adaptive algorithms. The environment in which a robot operates can be highly unpredictable, and the robot needs to be able to adapt to changes in the environment in real-time. This requires the use of algorithms that are not only capable of planning paths based on the current environment but also capable of quickly adapting to changes in the environment.Furthermore, the safety of both the robot and its surroundings is a critical consideration in path planning and robot navigation. The robot needs to be able to navigate through its environment in a way that minimizes the risk of collisions with obstacles or other entities. This requires the use of advanced sensing and perception systems that can accurately detect and track obstacles in the environment, as well as the use of intelligent decision-making algorithms that can prioritize safety in the robot's navigation.Moreover, the efficiency of path planning and robot navigation is also a significant factor to consider. In many real-world applications, such as in industrial settings or in search and rescue missions, the time it takes for a robot to navigate through its environment can have a direct impact on its overall performance. Therefore, the development of efficientpath planning and navigation algorithms is crucial for ensuring that robots can operate effectively in time-critical scenarios.In addition, the scalability of path planning and robot navigation algorithms is an important consideration, particularly in scenarios where multiple robots need to navigate through the same environment. In such cases, the path planning and navigation algorithms need to be able to coordinate the movements of multiple robots to ensure that they can operate collaboratively without interfering with each other's paths.Overall, path planning and robot navigation are complex and multifaceted challenges that require the development of advanced algorithms and technologies. By addressing the balance between exploration and exploitation, the need for robust and adaptive algorithms, the importance of safety and efficiency, and the scalability of the algorithms, researchers and engineers can work towards developing autonomous systems that are capable of navigating through dynamic and challenging environments effectively.。

四川省宜宾市叙州区2025届九年级英语第一学期期末学业水平测试试题注意事项：1．答卷前，考生务必将自己的姓名、准考证号、考场号和座位号填写在试题卷和答题卡上。

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Ⅰ. 单项选择1、How can we improve our environment a lot each of us does something useful for it?A．while B．until C．after D．unless2、It’s very important ______us _____ a secon d language.A．for, to learn B．for, learn C．to, to learn D．to, learn3、(2017·南京中考)—I go swimming every day.—Wow！That's a good ________．It keeps you healthy.A．match B．task C．habit D．dream4、E-tickets will be used for high-speed trains ________ the country in 2019. Passengers can enter the station by simply using their ID card.A．beside B．before C．across D．for5、—Shall we meet at 10 o’clock tomorrow morning?—I won’t be free then .Let’s make it ______day.A．other B．the other C．another D．others6、—Many products made in China are very popular in the United States.—Yeah. Americans can avoid buying Chinese products.A．nearly B．mostly C．hardly D．widely7、There are ________ people in the supermarket. It's so crowded.A．hundred B．hundreds C．hundred of D．hundreds of8、If you are hungry, you ________ line up at the restaurant for a meal. You can order food at Meituan Waimai on you phone.A．can’t B．mustn’t C．shouldn’t D．needn’t9、—I called you last night, but there was no reply.—Oh, sorry. I ________ in the park at that time.A．was walking B．walked C．am walking10、I study five days ____________ week and on Sundays I often play ____________ football.A．/；the B．the；the C．the；a D．a；/Ⅱ. 完形填空11、Ma Huijuan, a 38-year-old farmer from Ningxia, kept writing for many years. And now she is a famous 1Over the years, she has typed two million characters on 2 mobile phones. She wrote many stories in her free time. Ma has become 3 her writing in her village. She organized a study group of more than 30 women and taught them to read and write.Ma had to 4 studying at school when she was 16 years old. But it didn't end her love for 5 . She often borrowed books from her classmates.6 she bought her first mobile phone in 2008, Ma has been writing online. She writes for two or three hours on free days, and only for about five minutes on7 days.In her articles, she mainly describes her daily work 8 a simple but humorous way. Her articles also describe her family, her childhood, the villagers and the beautiful scenery in Ningxia.However. no one could 9 her at first. People said she was doing some meaningless work. Her husband 10 complained she used her mobile phone too often."They didn't understand me until my first article was published. In rural areas, the 11 is that we women do the housework at home, and the men work outside, " she said."As for reading and writing, that is 12 for farmers. But I don' t think so. After finishing my work, I try my best to develop my 13 ."Last October, Ma helped people build a library to 14 them to read books."Reading and writing helped me express my 15 and feelings well. I hope more people would realize the importance of studying and chase(追求) their dreams bravely," she said.1．A．singer B．painter C．reader D．writer2．A．our B．their C．her D．his3．A．bored with B．interested in C．famous for D．worried about4．A．hate B．stop C．keep D．start5．A．reading B．dancing C．drawing D．singing6．A．Because B．Although C．Since D．Before7．A．long B．quiet C．short D．busy8．A．in B．at C．for D．with9．A．understand B．hurt C．leave D．kill10．A．neither B．gladly C．hardly D．also11．A．question B．solution C．tradition D．task12．A．easy B．careless C .impossible D．expensive13．A．interest B．advice C．business D．information14．A．warn B．encourage C．promise D．invite15．A．lessons B．trips C．thoughts D．choicesⅢ. 语法填空12、A robot has started serving customers at a high-tech highway restaurant in Chongqing. After greeting customers at the gate, the robot 1．(name) Amy brings meals to customers. But 2．can a robot avoid walking into customers and the restaurant's human staff while walking? In fact, Amy has 3．in-built navigation system (导航系统) that allows it to choose a proper way to reach a customer's table without any problem. Orders 4．(place) at two tables that double as big touch screens and customers can order food there or simply on their own phones 5．scanning QR code(二维码). After they have ordered their food, diners can pay using a mobile payment app 6．as Alipay or WeChat Pay.While waiting for the orders, customers can use the special tables to play games, read some 7．(news), and check the traffic and weather conditions for their journey ahead.The robot catches everybody’s eyes with 8．(it) human-like appearance. It is really welcomed by customers and the restaurant 9．it not only cuts down much of business cost for the restaurant, but makes diners wait a much 10．(short) time. So the local government is trying to put them into use in the city's other service stations.Ⅳ. 阅读理解A13、Can you imagine a world without the Internet? It’s surprising to think about it.Now, China has more than 162 million Internet users, according to the China Internet Network Information Centre. This is the second highest number of user in the world after the United States. Today, 66%of Chinese “netizens （网民）” are teenagers. “They spend about thirteen hours every week online,” said Qian Hulin, an Internet expert. Doctor Songin Beijing Xuanwu Hospital said about 14% of Chinese netizens who are teens often lasted over ten hours to play online games.The main reasons why teenagers surf the Web are to search for information, to communicate with others and to have fun. On the Internet, teenagers can find out almost anything. And surfing the Web can help students with their homework and widen their knowledge.Li Dong, a teacher at No. 41 Middle School in Shijiazhuang, likes her students to use the Internet. “When we talk in class, students who surf the Net usually know more backgr ound information than the others,” she said.In addition, people can use the Internet to write letters or stories and send emails. Many teens keep in touch with their friends online. It is cheaper than phoning somebody far away and also much quicker.1．_______ has the most Internet users in the world according to the article.A．China B．America C．Canada D．Russia2．There are about _______ Chinese netizens to surf about 13 hours every week.A．107 million old B．22.7 million oldC．107 million young D．22.7 million young3．Song said some teenagers continued _______ more than ten hours.A．playing online games B．searching for informationC．chatting with their friends D．sending emails to others4．Li Dong in No. 41 Middle School likes her students to use the Internet because she ______.A．thinks surfing the net can help students spend less time on homeworkB．thinks her students can get more background information than the othersC．wants her students to talk to her about their hobbies and interestsD．wants to know what her students do and think about at home5．Which way is the cheapest and quickest to learn something about friends far away?A．Giving them a call. B．Going to see them.C．Writing a letter to them. D．Sending emails to them.B14、When I began to move to Auckland to study the law, my mother was a little worried about the uncertainty of living in a place that was so different from India, where we lived. She worried about the shortage of jobs and the cultural differences that I would face.I came to New Zealand in July 2013. I found the people were very nice and supportive. Soon after I arrived, I realized the importance of getting a part time job to make a living.Deciding to do this on my own, I spent a whole day going from door to door for a job. However, I received a little or no reply. This became my daily activity after college for a few weeks.One afternoon, I walked into a building to ask if there were any job chances. The people there were very surprised, and advised me not to continue my job search in that way. As I was about to leave, a secretary in the building came up to me and encouraged me to stay confident. He then offered to take me to the Royal Oak area to search for a job.Along the way, I realized I had run out of copies of my resume (简历). The man stopped at his friend‟s office to make me 15 extra copies. He also gave me tips on dressing and speaking. I handed out my resume and went home. The following day, I received a call from a store in Royal Oak offering me a job.It seemed that the world always gives back to you when you need it. And this time, it was a complete stranger who turned out to be a real blessing (祝福).1．（小题1）The writer moved to Auckland to ______.A．avoid the job shortageB．face the cultural differencesC．start his life in a new placeD．study the law in college2．（小题2）After staying in New Zealand for a short time, the writer realized ______.A．he needed to find a job to make a living.B．people there were not very friendly.C．he should always stay confident.D．it was easy to get a new job.3．（小题3）What is the story mainly about?A．How a secretary offered the writer a job.B．How a secretary turned out to be a real hero.C．How a stranger helped the writer to get a job.D．How the writer made a living in a new country.C15、Buying Is Doing?How important is shopping to you? How much time do you spend buying things? And how much time do you spend organizing these things in your home? In the future, how much time will you spend in movie theaters, at amusement parks, at shopping malls, or at convenience stores? When you add it all up, you will probably see you spend a lot of your life consuming（消费）things. Consuming products is not necessarily bad. However, if we spend too much time doing it, we should look at it carefully.Imagine that you have a week off from school. You don’t have to go to class. However, in this week, you cannot spend any money — no shopping, no movies, no eating out. How would you spend your time?What things would bring you happiness? Perhaps you would take a walk with your best friend. Perhaps you would help a child read. Or you might spend time with your family.When we look back, it is likely that non-consuming experiences like these will be our most important memories. Why? Non-consuming activities are active, not passiv e. They don’t come in a package. You make the experience yourself. For example, each person who reads to a child will have a different experience. The experience changes with the reader, the child, and the book. Similarly, when you have a conversation with a friend, you are actively creating an experience. The conversation that you have with your friend cannot be experienced or recreated by anyone else. However, if you watch a movie with a friend, you will each have a package experience. It requires no action and little interaction between the twoof you.The environment we live in encourages us to have packaged experiences. We feel that we must consume because we believe that buying is doing. However, we can start a personal revolution（变革）against consumerism. How? By consuming less, we can ask ourselves what experiences bring us the greatest satisfaction. Then we can organize our lives so that we have more of those kinds of experiences.1．If consuming products takes too much time, we should ____________.A．spend less money B．think about it carefullyC．organize our things D．go to convenience stores2．According to the passage, the writer believes that _____________.A．we can say no to consumerism by consuming lessB．buying things can bring us the greatest satisfactionC．the environment seldom influences our shopping choicesD．consuming experiences will be our most important memories3．What is the writer’s main purpose in writing this passage?A．To introduce some ways of enjoying our spare time.B．To encourage people to have more active experiences.C．To explain reasons behind people’s shopping behavior.D．To share his personal experience in consuming products.D16、An old man went to live with his son, his daughter-in-law, and a four-year-old grandson. The old man’s hands trembled, his eyesight was very poor, and he couldn’t walk steadily(平稳地). The family ate together nightly at the dinner table. But the elderly grandfather’s shaky hands and failing sight made eating rather difficult. Rice often dropped on the floor.The son and the daughter-in-law became angry with the old man, so they put a small table in the corner. There, the grandfather ate alone, while the rest of the family enjoyed dinner at the table. Since the grandfather had broken a dish or two, his food was served in a wooden bowl.The four-year-old son watched it all in silence. One evening before supper, the father noticed his son playing with a piece of wood on the floor. He asked the child sweetly, “What are you making?” The boy answered, “Oh, I am making a little bowl for you and mama to eat your food from when I grow up.” The four-year-old son smiled and went back to work. The words struck the parents so that they were in silence. Then tears started to stream down their cheeks（脸颊）. Though no word was spoken, both knew what must be done. That evening the husband took grandfather’s hand andgently led him back to the family table.1．Why was the old man’s food served in a wooden bowl?A．Because the wooden bowl was light enough.B．Because the old man had broken a few bowls.C．Because there was only a wooden bowl left.D．Because the son and the daughter-in-law became angry with the old man.2．Why did the husband lead the old man back to the family table?A．Because he realized his mistakes.B．Becaus e the old man didn’t drop rice on the floor any more.C．Because the old man was served in a wooden bowl.D．Because a gentleman led him back to the family table.3．What’s the best title of the passage?A．An old man and his son. B．A couple and their son.C．A wooden bowl. D．A dinner table.E17、1．Which is the cheapest theater?A．Dadi B．Huize C．Hengda2．You can buy a skirt for your mother at _________.A．Tianhong Store B．Kangxing Store C．Dadi3．Which store can you buy pizza?A．Starbucks B．Pizza Hut C．KFCF18、Experts know that a disaster is coming but they do not know when it will happen. They do know that it could cause alot of damage. They think it will be worse than a hurricane. The disaster they are worried about is an earthquake. There is a break in the earth’s crust (外壳). It is called the San Andreas Fault. The San Andreas Fault is in California. Many earthquakes happen along the San Andreas Fault. In 1989 there was a big earthquake on the fault. The earthquake was called the “Loma Prieta Earthquake”. Many people were hurt or died. Many buildings were ruined. Lots of people lost their homes. Roads and bridges were also damaged.A large earthquake could happen in Southern California. Many small earthquakes have happened in the last year. Earthquake experts think that a large earthquake will happen there soon. They think a big earthquake will happen in the next few years.The San Andreas Fault has many power lines stretched across it. There are water channels close to the earthquake fault.A large earthquake in Southern California would destroy energy and water supplies (供应). Lots of people would be without power or water for weeks. Buildings that have not been built strong enough would be destroyed. Not all hospitals would be able to help people who were injured. Many people would die or be homeless.People need to be prepared. They need to know what to do if an earthquake happens. Everyone in California should have a survival kit at home. The emergency kit (应急箱) would include food and water. There should be medication and first aid supplies in the kit. A good survival kit will also have a portable radio, flashlights and spare batteries. All of the supplies in the kit should last at least 3 days.1．We can probably find this passage in .A．a science book B．a sports newspaperC．a travelling magazine D．a detective storybook2．Which of the following isn’t mentioned as a result of the “Loma Prieta Earthquake”?A．Many buildings were ruined.B．Roads and bridges were damaged.C．Many people were hurt or died.D．Lots of animals lost their living areas.3．Which of the following is TRUE according to the passage?A．All of the supplies in the emergency kit will last at most 3 days.B．A large earthquake in Southern California would destroy food supplies.C．A break in the earth’s crust in Ca lifornia is called the San Andreas Fault.D．Lots of people would be without power or water for days after the earthquake.4．The purpose of this passage is to tell people that .A．there will be a terrible earthquake in weeksB．the earthquake may cause such serious resultsC．the coming earthquake will destroy a lot of suppliesD．the earthquake is so terrible that we need to be preparedⅤ.书面表达19、书面表达在学习中, 不良的学习习惯导致学习效率不高。

2023-2024学年新疆乌鲁木齐市高新区（新市区）重点达标名校中考英语适应性模拟试题含答案考生须知：1．全卷分选择题和非选择题两部分，全部在答题纸上作答。

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Ⅰ. 单项选择1、I’d like to go with you, _____________I’m too busy.A．or B．and C．so D．but2、Would you like to go to the museum with me?I’d love to, ______ I’m afraid I have no time.A．but B．and C．or D．so3、Parents must be patient their children.A．at B．about C．with D．to4、The bell rang ________the teacher was explaining the experiment to the students.A．until B．before C．while D．after5、Father’s Day is on _________ Sunday of June.A．three B．the three C．third D．the third6、—I can’t open the window. —Well , let me have a(an) _____.A．hand B．open C．go D．kick7、—Someone the classroom when I passed.—Well, it wasn’t me.A．is cleaning B．has cleaned C．was cleaning D．will clean8、We want students for the school show. If you _________ play the guitar, please talk to Mr. Zhang after school. A．can B．may C．should D．must9、---- David asked______ in China.----- Of course not. Chinese usually shake hands with a lady as a greeting.A．why he can greet a lady by kissing herB．Why he could greet a lady by kissing herC．Whether he can greet a lady by kissing herD．Whether he could greet a lady by kissing her10、Hurry up, __________ we’ll have to wait another two hours for the next train.A．and B．but C．or D．soⅡ. 完形填空11、Joe was a farmer. His farmland was so poor that he hadn’t good harvest for years. “If God let me control the1 , then everything will get better,” he complained, “I know better than God does because I am a clever farmer.”God heard his words. “Well, I will give you one year,” God replied. “You will be in charge of the weather. Let’s see what your crops grow like.”On hearing this, Joe was so 2 that he couldn’t believe what he heard. But he still wanted to have a try. He shouted, “Sunny!” Suddenly the clouds went away.“Unbelievable!” He thought to himself and tried again, “rain!” The sky became cloud y right away and heavy rain poured down.In the following year, he changed the weather between sunny and 3 . Watching his crops growing bigger and bigger, he felt satisfied.When the harvest season came, he went to the field, looking forward to a big harvest. But his heart sank to the bottom when he found his strong crops had not grown any grain（谷粒）at all. Puzzled and 4 , he started crying. Once again, God 5 him.“Don’t you have your wish to control the weather?” God asked again. “Yes, but I just can’t understand it. I have given them what they 6 . How could it be?” Joe 7 . “That’s because you 8 asked for wind, rainstorm, snow or anything that could make the roots stronger. Without strong roots, of course they won’t grow any fruit.” After he realized this, Joe asked God to 9 the power.It turned out that only through life’s challenges, we would succeed in harvest the 10 of life. It takes both ups and downs to get satisfactory results.1．A．time B．world C．weather D．way2．A．surprised B．sorry C．angry D．worried3．A．windy B．rainy C．cloudy D．snowy4．A．excited B．embarrassed C．nervous D．disappointed5．A．refused B．heard C．thanked D．punished6．A．know B．have C．offer D．need7．A．mentioned B．noted C．suggested D．wondered8．A．almost B．never C．always D．just9．A．take back B．take off C．give up D．put out10．A．taste B．money C．fruit D．discoverⅢ. 语法填空12、A robot has started serving customers at a high-tech highway restaurant in Chongqing. After greeting customers atthe gate, the robot 1．(name) Amy brings meals to customers. But 2．can a robot avoid walking into customers and the restaurant's human staff while walking? In fact, Amy has 3．in-built navigation system (导航系统) that allows it to choose a proper way to reach a customer's table without any problem. Orders 4．(place) at two tables that double as big touch screens and customers can order food there or simply on their own phones 5．scanning QR code(二维码). After they have ordered their food, diners can pay using a mobile payment app 6．as Alipay or WeChat Pay.While waiting for the orders, customers can use the special tables to play games, read some 7．(news), and check the traffic and weather conditions for their journey ahead.The robot catches everybody’s eyes with 8．(it) human-like appearance. It is really welcomed by customers and the restaurant 9．it not only cuts down much of business cost for the restaurant, but makes diners wait a much 10．(short) time. So the local government is trying to put them into use in the city's other service stations.Ⅳ. 阅读理解A13、If you watch the sky for about an hour after the sun goes down, you may see some “moving stars”. But they’re not real stars. They’re man-made satellites(人造卫星). And the biggest of all is the International Space Station (ISS). From May to July is the best season to watch the ISS flying over the earth. And people can see it with their eyes.The ISS is the biggest satellite and scientists want to live on it. They think that the best way to learn more about space is to live there.When the space station is finished, it will be like a city in space. People will stay and study there with many of the things they have at home. Laboratories, living rooms and power stations are being built. The ISS is the most expensive space program. Billions of dollars are being spent on it every year.Scientists hope that the ISS will be a stepping stone for future space exploration(探测). “The ISS will help us understand the human body better, explore space and study the earth. It can help us make life on the earth better,” said Kathryn Clark, an ISS scientist.Sixteen countries are part of the program: the US, Russia, Canada, Japan, Brazil and 11 European countries. China isn’t an ISS country, but it has helped with some of the experiments. In 2003, China sent some rice up to the ISS to find out what space would do to it.根据短文内容，选择正确答案。

Quaternion-Based Control Robot Navigation Quaternion-based control for robot navigation is a complex and challenging problem that requires a deep understanding of both robotics and mathematics. This approach to control is based on the use of quaternions, which are a mathematical concept that extends the idea of complex numbers to higher dimensions. By using quaternions, it is possible to represent the orientation of a robot in three-dimensional space in a way that avoids the singularities and discontinuities that can occur when using other representations, such as Euler angles.One of the main advantages of using quaternions for robot navigation is that they provide a more stable and robust representation of orientation compared to other methods. This is particularly important in applications where the robot needs to move through complex and dynamic environments, such as in industrial automation or autonomous vehicles. By using quaternions, it is possible to avoid the problems of gimbal lock and numerical instability that can occur when using other representations of orientation.Another important aspect of quaternion-based control for robot navigation is the ability to seamlessly integrate with sensor data. In order for a robot to navigate effectively, it needs to be able to accurately perceive its environment and react to changes in real-time. By using quaternions, it is possible to combine data from different sensors, such as accelerometers, gyroscopes, and magnetometers, in a way that provides a consistent and accurate representation of the robot's orientation.However, despite the many advantages of quaternion-based control for robot navigation, there are also significant challenges and limitations that need to be addressed. One of the main challenges is the complexity of the mathematical algorithms and computations involved in using quaternions for control. This requires a high level of expertise in both robotics and mathematics, and can be a significant barrier for many engineers and researchers.Another challenge is the need for accurate calibration and synchronization of sensors in order to obtain reliable quaternion data. Any errors or inconsistencies in the sensor data canlead to inaccuracies in the robot's orientation estimation, which can have serious consequences for navigation and control. This requires careful attention to detail and rigorous testing and validation procedures to ensure the reliability of the quaternion-based control system.In addition, there are also practical limitations in terms of the computational resources required for quaternion-based control. The complex mathematical operations involved in using quaternions can be computationally intensive, especially in real-time applications where low latency is critical. This can pose challenges for implementing quaternion-based control on resource-constrained hardware platforms, such as small embedded systems or mobile robots.Despite these challenges and limitations, quaternion-based control for robot navigation holds great promise for the future of robotics. With continued advancements in sensor technology, computational power, and algorithm development, it is likely that many of the current limitations can be overcome. As researchers and engineers continue to explore and innovate in this field, quaternion-based control is expected to play an increasingly important role in enabling robots to navigate and operate effectively in a wide range of complex environments.。

循迹算法原理The principle of the line-following algorithm is to use sensors to detect the line on the ground and make adjustments to keep the robot on track.循迹算法的原理是利用传感器检测地面上的线路，并做出调整以保持机器人在轨道上。

There are several different types of line-following algorithms, including the proportional-integral-derivative (PID) algorithm, the Bang-bang algorithm, and the state machine algorithm.有几种不同类型的循迹算法，包括比例-积分-微分（PID）算法，Bang-bang算法和状态机算法。

The PID algorithm uses feedback from the sensors to calculate the robot's position relative to the line and adjust the motors accordingly.PID算法利用传感器的反馈来计算机器人相对于线路的位置，并相应调整电机。

The Bang-bang algorithm, also known as on-off control, simply switches the motors on or off depending on the sensor input.Bang-bang算法，也称为开关控制，根据传感器输入简单地打开或关闭电机。

The state machine algorithm uses a predefined set of states and transitions to determine how the robot should behave based on sensor input.状态机算法使用预定义的状态和转换集来确定机器人应根据传感器输入如何行为。

基于复合控制算法的移动机器人沿墙导航研究富志凯;邢建春【摘要】室内复杂环境下,由于超声波传感器测量精度不高、数量有限,导致移动机器人沿墙导航效果不佳,现有的控制算法实现较为复杂.为此,提出一种基于复合控制算法的沿墙导航策略,通过PID控制算法和Bang-Bang控制算法切换,控制移动机器人进行沿墙导航并最终实现室内环境的边缘检测.实际运行实验验证了该方法的可行性和鲁棒性.%The performance of wall-following navigation for mobile robot is not good in indoor complex environment due to the limitation of the ultrasonic sensors in both numbers and metric accuracy, thus the existing control algorithms become complicated in implementation. Therefore this paper proposes a wall-following navigation strategy based on the composite control algorithm. By switching between the PID control algorithm and the Bang-Bang control algorithm, the mobile robot can be controlled to realise the wall-following navigation and achieve the edge detection in indoor environment. Practical operation experiment proves the effectiveness and robustness of the designed method.【期刊名称】《计算机应用与软件》【年(卷),期】2012(029)009【总页数】4页(P234-236,277)【关键词】移动机器人;沿墙导航;复合控制;边缘检测【作者】富志凯;邢建春【作者单位】解放军理工大学工程兵工程学院江苏南京210007;解放军理工大学工程兵工程学院江苏南京210007【正文语种】中文【中图分类】TP242.60 引言在室内结构化环境中，长墙是普遍存在的环境特征，因此移动机器人沿墙运动就成为一种即简单又经济实用的导航方法。

RPLIDAR A2 2016-10-28 rev.1.0Low Cost 360 Degree Laser Range ScannerIntroduction and DatasheetModel: A2M5A2M6OPTMAG 4KCONTENTS (1)INTRODUCTION (3)S YSTEM CONNECTION (4)M ECHANISM (5)S AFETY AND S COPE (6)D ATA O UTPUT (6)H IGH S PEED S AMPLING P ROTOCOL AND C OMPATIBILITY (7)A PPLICATION S CENARIOS (8)SPECIFICATION (9)M EASUREMENT P ERFORMANCE (9)L ASER P OWER S PECIFICATION (9)O PTICAL W INDOW (10)C OORDINATE S YSTEM D EFINITION OF S CANNING D ATA (10)C OMMUNICATION INTERFACE (11)MISC (14)SELF-PROTECTION AND STATUS DETECTION (15)SDK AND SUPPORT (16)MECHANICAL DIMENSIONS (17)REVISION HISTORY (18)APPENDIX (19)I MAGE AND T ABLE I NDEX (19)The RPLIDAR A2 is the next generation low cost 360 degree 2D laser scanner (LIDAR) solution developed by SLAMTEC. It can take up to 4000 samples of laser ranging per second with high rotation speed. And equipped with SLAMTEC patented OPTMAG technology, it breakouts the life limitation of traditional LIDAR system so as to work stably for a long time.RPLIDAR A2M5/A2M6 is the enhanced version of 2D laser range scanner(LIDAR). The system can perform 2D 360-degree scan within a 16-meter range. The generated 2D point cloud data can be used in mapping, localization and object/environment modeling.The typical scanning frequency of the RPLIDAR A2 is 10hz (600rpm). Under this condition, the angular resolution will be 0.9°. And the actual scanning frequency can be freely adjusted within the 5-15hz range according to the requirements of users.The RPLIDAR A2 adopts the low cost laser triangulation measurement system developed by SLAMTEC, which makes the RPLIDAR A2 has excellent performance in all kinds of indoor environment and outdoor environment without direct sunlight exposure. Meanwhile, before leaving the factory, every RPLIDAR A2 haspassed the strict testing to ensure the laser output power meet the standards of FDA Class I.System connectionThe RPLIDAR A2 consists of a range scanner core and the mechanical powering part which makes the core rotate at a high speed. When it functions normally, the scanner will rotate and scan clockwise. And users can get the range scan data via the communication interface of the RPLIDAR and control the start, stop and rotating speed of the rotate motor via PWM.Range Scanner CoreCommunication andPower Interface MechanicalPowering PartFigure 1-1 RPLIDAR System CompositionThe RPLIDAR A2 comes with a rotation speed detection and adaptive system. The system will adjust the angular resolution automatically according to the actual rotating speed. And there is no need to provide complicated power system for RPLIDAR. In this way, the simple power supply schema saves the BOM cost. If the actual speed of the RPLIDAR is required, the host system can get the related data via communication interface.The detailed specification about power and communication interface can be found in the following sections.MechanismThe RPLIDAR A2 is based on laser triangulation ranging principle and adopts the high-speed vision acquisition and processing hardware developed by SLAMTEC. The system ranges more than 4000 times per second.dFigure 1-2 The RPLIDAR Working SchematicDuring every ranging process, the RPLIDAR emits modulated infrared laser signal and the laser signal is then reflected by the object to be detected. The returning signal is then sampled by vision acquisition system in RPLIDAR and the DSP embedded in RPLIDAR starts processing the sample data and outputs distance value and angle value between object and RPLIDAR via communication interface.When drove by the motor system, the range scanner core will rotate clockwise and perform the 360-degree scan for the current environment.Figure 1-3 The Obtained Environment Map from RPLIDAR ScanningSafety and ScopeThe RPLIDAR A2 system uses a low power infrared laser as its light source, and drives it by using modulated pulse. The laser emits light in a very short time frame which can ensure its safety to human and pets, and it reaches Class I laser safety standard.The modulated laser can effectively avoid the interference from ambient light and sunlight during ranging scanning process, which makes RPLIDAR work excellent in all kinds of indoor environment and outdoor environment without sunlight.Data OutputDuring the working process, the RPLIDAR will output the sampling data via the communication interface. And each sample point data contains the information in the following table. If you need detailed data format and communication protocol, please contact SLAMTEC.*Note ：The LIDAR scan image is not directly relative to the environment showed here. Illustrative purpose only.Class IFigure 1-4 The RPLIDAR Sample Point Data InformationFigure 1-5 The RPLIDAR Sample Point Data FramesThe RPLIDAR outputs sampling data continuously and it contains the sample point data frames in the above figure. Host systems can configure output format and stop RPLIDAR by sending stop command. For detailed operations please contact SLAMTEC.High Speed Sampling Protocol and CompatibilityThe RPLIDAR A2 adopts the newly extended high speed sampling protocol for outputting the 4000 times per second laser range scan data. Users are required to update the matched SDK or modify the original driver and use the new protocol to use the 4000 times per second mode of RPLIDAR A2. Please check the related protocol documents for details.The RPLIDAR A2 is compatible with all the communication protocols of previous versions. Users can directly replace the previous RPLIDAR with RPLIDAR A2 and use it in the original system. But in this scenario, the RPLIDAR A2 will work in compatible mode and the system will take range 2000 times per second.Data TypeUnitDescriptionDistance mm Current measured distance value between the rotating core of the RPLIDAR and the sampling point Heading degree Current heading angle of the measurement Start Flag (Bool) Flag of a new scanChecksumThe Checksum of RPLIDAR return data…(d ሾn −1ሿ,θሾn −1ሿ)(d ሾn ሿ,θሾn ሿ) (d ሾ0ሿ,θሾ0ሿ) (d ሾ1ሿ,θሾ1ሿ)…Start FlagA new scanApplication ScenariosThe RPLIDAR can be used in the following application scenarios:o General robot navigation and localizationo Environment scanning and 3D re-modelingo Service robot or industrial robot working for long hourso Home service /cleaning robot navigation and localization o General simultaneous localization and mapping (SLAM)o Smart toy’s localization and obstacle avoidanceMeasurement Performance●For Model A2M5/A2M6 OnlyFigure 2-1 RPLIDAR PerformanceNote: the triangulation range system resolution changes along with distance. Laser Power SpecificationFigure 2-2 RPLIDAR Optical SpecificationNote: the laser power listed above is the peak power and the actual average power is much lower than the value.Optical WindowTo make the RPLIDAR A2 working normally, please ensure proper space to be left for its emitting and receiving laser lights when designing the host system. The obscuring of the host system for the ranging window will impact the performance and resolution of RPLIDAR A2. If you need cover the RPLIDAR A2 with translucent materials or have other special needs, please contact SLAMTEC about the feasibility.Optical WindowFigure 2-3 RPLIDAR Optical WindowYou can check the Mechanical Dimensions chapter for detailed window dimensions.Coordinate System Definition of Scanning DataThe RPLIDAR A2 adopts coordinate system of the left hand. The dead ahead of the sensors is the x axis of the coordinate system; the origin is the rotating center of the range scanner core. The rotation angle increases as rotating clockwise. The detailed definition is shown in the following figure:Figure 2-4 RPLIDAR Scanning Data Coordinate System DefinitionCommunication interfaceThe RPLIDAR A2 uses separate 5V DC power for powering the range scanner core and the motor system. And the standard RPLIDAR A2 uses XH2.54-5P male socket. Detailed interface definition is shown in the following figure:Figure 2-5 RPLIDAR Power Interface Definitionθ ሾ0,360)Interface LeadRedXH2.54-5PVCCTXRXGND MOTOCTLFigure 2-6 RPLIDAR External Interface Signal DefinitionPower Supply InterfaceRPLIDAR A2 takes the only external power to power the range scanner core and the motor system which make the core rotate. To make the RPLIDAR A2 work normally, the host system needs to ensure the output of the power and meet its requirements of the power supply ripple.Figure 2-7 RPLIDAR Power Supply SpecificationData communication interfaceThe RPLIDAR A2 takes the 3.3V-TTL serial port (UART) as the communication interface. The table below shows the transmission speed and the protocol standard.Figure 2-8 RPLIDAR Serial Port Interface SpecificationsNote: the RX input signal of A2M5/A2M6 is current control type. In order to ensure the reliable signal identification inside the system, the actual control node voltage of this pin will not be lower than 1.6v. Scanner Motor ControlThe RPLIDAR A2 is embedded with a motor driver which has speed tuning feature. Users can control the start, the stop and the rotating speed for the motor via MOTOCTL in the interface. MOTOCTL can be supplied using PWM signal with special frequency and duty cycle, and in this mode, the rotating speed is decided by the duty cycle of the input MOTOCTL PWM Signal.The following table describes the requirement for the input PWM signal of MOTOCTL:Figure 2-9 RPLIDA Specification for PWM Signal of MOTOCTLNote: the typical value is tested when the scanner rotating frequency is 10Hz. With the same rotating speed, the PWM duty cycle of every RILIDAR A2 may vary slightly. If a precise rotating speed is required, users can perform a closed-loop control.If the host system only need to control the start and stop of the motor, please use the direct current signal in high level and low level to drive MOTOCTL. Under this condition, when the MOTOCTL is the low level signal, the RPLIDAR A2 will stop rotating and scanning; when the MOTOCTL is the high level signal, the RPLIDAR A2 will rotated at the highest speed.MISCFor Model A2M5/A2M6 OnlyFigure 2-10 RPLIDAR MISC SpecificationTo ensure the laser of RPLIDAR always working in the safety range (<3mW) and avoid any other damage caused by device, the RPLIDAR comes with laser power detection and sensor healthy check feature. It will shut down the laser and stop working automatically when any of the following errors has been detected.o Laser transmit power exceeds limited valueo Laser cannot power on normallyo Scan speed of Laser scanner system is unstableo Scan speed of Laser scanner system is too slowo Laser signal sensor works abnormallyThe host systems can check the status of the RPLIDAR via the communication interface and restart the RPLIDAR to try to recover work from error.SLAMTEC provides debug GUI tool and SDK (available for Windows, x86 Linux and Arm Linux) to speed up the product development for users. Please contact SLAMTEC for detail information.Figure 4-1 The Debugging GUI of RPLIDARThe mechanical dimensions of the RPLIDAR A2 are shown as below:Figure 5-1 RPLIDAR Mechanical DimensionsNote: the 4 * M3 screws in the bottom should be no longer than 4mm, or the internal module would be damaged.Image and Table IndexF IGURE 1-1RPLIDAR S YSTEM C OMPOSITION (4)F IGURE 1-2T HE RPLIDAR W ORKING S CHEMATIC (5)F IGURE 1-3T HE O BTAINED E NVIRONMENT M AP FROM RPLIDAR S CANNING (6)F IGURE 1-4T HE RPLIDAR S AMPLE P OINT D ATA I NFORMATION (7)F IGURE 1-5T HE RPLIDAR S AMPLE P OINT D ATA F RAMES (7)F IGURE 2-1RPLIDAR P ERFORMANCE (9)F IGURE 2-2RPLIDAR O PTICAL S PECIFICATION (9)F IGURE 2-3RPLIDAR O PTICAL W INDOW (10)F IGURE 2-4RPLIDAR S CANNING D ATA C OORDINATE S YSTEM D EFINITION (11)F IGURE 2-5RPLIDAR P OWER I NTERFACE D EFINITION (11)F IGURE 2-6RPLIDAR E XTERNAL I NTERFACE S IGNAL D EFINITION (12)F IGURE 2-7RPLIDAR P OWER S UPPLY S PECIFICATION (12)F IGURE 2-8RPLIDAR S ERIAL P ORT I NTERFACE S PECIFICATIONS (13)F IGURE 2-9RPLIDA S PECIFICATION FOR PWM S IGNAL OF MOTOCTL (13)F IGURE 2-10RPLIDAR MISC S PECIFICATION (14)F IGURE 4-1T HE D EBUGGING GUI OF RPLIDAR (16)F IGURE 5-1RPLIDAR M ECHANICAL D IMENSIONS (17)。

Wall-Following Robot Navigation Data Set(沿墙壁移动机器人导航数据集)数据摘要：The data were collected as the SCITOS G5 robot navigates through the room following the wall in a clockwise direction, for 4 rounds, using 24 ultrasound sensors arranged circularly around its 'waist'.中文关键词：数据,机器人,导航,沿墙壁移动,传感器,英文关键词：data,robot,navigate,Wall-Following,sensor,数据格式：TEXT数据用途：Classification数据详细介绍：Wall-Following Robot Navigation Data Data SetAbstract: The data were collected as the SCITOS G5 robot navigates through the room following the wall in a clockwise direction, for 4 rounds, using 24 ultrasound sensors arranged circularly around its 'waist'.Source:(a) Creators: Ananda Freire, Marcus Veloso and Guilherme BarretoDepartment of Teleinformatics EngineeringFederal University of CearáFortaleza, Ceará, Brazil(b) Donors of database: Ananda Freire (anandalf '@' )Guilherme Barreto (guilherme '@' deti.ufc.br)Data Set Information:The provided files comprise three different data sets. The first one contains the raw values of the measurementsof all 24 ultrasound sensors and the corresponding class label (see Section 7). Sensor readings are sampled at arate of 9 samples per second.The second one contains four sensor readings named 'simplified distances' and the corresponding class label (see Section 7). These simplified distances are referred to as the'front distance', 'left distance', 'right distance' and 'back distance'. They consist, respectively, of the minimum sensor readings among those within 60 degree arcs located at the front, left, rightand back parts of the robot.The third one contains only the front and left simplified distances and the corresponding class label.It is worth mentioning that the 24 ultrasound readings and the simplified distances were collected at the same time step, so each file has the same number of rows (one for each sampling time step).The wall-following task and data gathering were designed to test the hypothesis that this apparently simple navigation task is indeed a non-linearly separable classification task. Thus, linear classifiers, such as the Perceptron network, are not able to learn the task and command the robot around the room without collisions. Nonlinear neural classifiers, such as the MLP network, are able to learn the task and command the robot successfully without collisions.If some kind of short-term memory mechanism is provided to the neural classifiers, their performances are improved in general. For example, if past inputs are provided together with current sensor readings, even the Perceptron becomes able to learn the task and command the robot succesfully. If a recurrent neural network, such as the Elman network, is used to learn the task, the resulting dynamical classifier is able to learn the task using less hidden neurons than the MLP network.Files with different number of sensor readings were built in order to evaluate the performance of the classifiers with respect to the number of inputs.Attribute Information:Number of Attributes-- sensor_readings_24.data: 24 numeric attributes and the class.-- sensor_readings_4.data: 4 numeric attributes and the class.-- sensor_readings_2.data: 2 numeric attributes and the class.For Each Attribute:-- File sensor_readings_24.data:1. US1: ultrasound sensor at the front of the robot (reference angle: 180°) - (numeric: real)2. US2: ultrasound reading (reference angle: -165°) - (numeric: real)3. US3: ultrasound reading (reference angle: -150°) - (numeric: real)4. US4: ultrasound reading (reference angle: -135°) - (numeric: real)5. US5: ultrasound reading (reference angle: -120°) - (numeric: real)6. US6: ultrasound reading (reference angle: -105°) - (numeric: real)7. US7: ultrasound reading (reference angle: -90°) - (numeric: real)8. US8: ultrasound reading (reference angle: -75°) - (numeric: real)9. US9: ultrasound reading (reference angle: -60°) - (numeric: real)10. US10: ultrasound reading (reference angle: -45°) - (numeric: real)11. US11: ultrasound reading (reference angle: -30°) - (numeric: real)12. US12: ultrasound reading (reference angle: -15°) - (numeric: real)13. US13: reading of ultrasound sensor situated at the back of the robot (reference angle: 0°) - (numeric: real)14. US14: ultrasound reading (reference angle: 15°) - (numeric: real)15. US15: ultrasound reading (reference angle: 30°) - (numeric: real)16. US16: ultrasound reading (reference angle: 45°) - (numeric: real)17. US17: ultrasound reading (reference angle: 60°) - (numeric: real)18. US18: ultrasound reading (reference angle: 75°) - (numeric: real)19. US19: ultrasound reading (reference angle: 90°) - (numeric: real)20. US20: ultrasound reading (reference angle: 105°) - (numeric: real)21. US21: ultrasound reading (reference angle: 120°) - (numeric: real)22. US22: ultrasound reading (reference angle: 135°) - (numeric: real)23. US23: ultrasound reading (reference angle: 150°) - (numeric: real)24. US24: ultrasound reading (reference angle: 165°) - (numeric: real)25. Class:-- Move-Forward-- Slight-Right-Turn-- Sharp-Right-Turn-- Slight-Left-Turn-- File sensor_readings_4.data:1. SD_front: minimum sensor reading within a 60 degree arc located at the front of the robot - (numeric: real)2. SD_left: minimum sensor reading within a 60 degree arc located at the left of the robot - (numeric: real)3. SD_right: minimum sensor reading within a 60 degree arc located at the right of the robot - (numeric: real)4. SD_back: minimum sensor reading within a 60 degree arc located at the back of the robot - (numeric: real)5. Class:-- Move-Forward-- Slight-Right-Turn-- Sharp-Right-Turn-- Slight-Left-Turn-- File sensor_readings_2.data:1. SD_front: minimum sensor reading within a 60 degree arc located at the front of the robot - (numeric: real)2. SD_left: minimum sensor reading within a 60 degree arc located at the left of the robot - (numeric: real)3. Class:-- Move-Forward-- Slight-Right-Turn-- Sharp-Right-Turn-- Slight-Left-TurnRelevant Papers:Ananda L. Freire, Guilherme A. Barreto, Marcus Veloso and Antonio T. Varela (2009), 'Short-Term Memory Mechanisms in Neural Network Learning of Robot Navigation Tasks: A Case Study'. Proceedings of the 6th Latin American Robotics Symposium (LARS'2009),Valparaíso-Chile, pages 1-6, DOI: 10.1109/LARS.2009.5418323Citation Request:Please refer to the Machine Learning Repository's citation policy数据预览：点此下载完整数据集。

机器人路径规划算法的实验操作指南导言：机器人路径规划是机器人导航和自主移动的核心技术之一。

路径规划算法能够帮助机器人找到最优或者近似最优的路径，以避开障碍物并在给定环境中达到目标点。

本文将介绍机器人路径规划算法的实验操作指南，包括基本概念、实验准备、实验步骤和结果分析。

一、基本概念：1.路径规划算法的作用：路径规划算法是指在给定环境中，通过分析机器人当前状态和环境信息，确定机器人在合理时间内到达目标点的最优路径或近似最优路径。

2.常见路径规划算法：A*算法、Dijkstra算法、动态规划、边界遍历算法等。

3.评价指标：路径长度、运行时间、资源消耗、路径平滑度等。

二、实验准备：1.实验设备：一台计算机、一款机器人模拟软件（如ROS、V-REP等）。

2.软件安装：根据机器人模拟软件的官方指南完成软件的安装和初始化工作。

3.环境准备：根据实验需求，创建一个地图环境，并添加机器人和障碍物等元素。

三、实验步骤：1.确定目标点和起点：在地图上选择一个目标点和一个起点，并标记出来。

2.选择路径规划算法：根据实验需求和所学算法，选择一种路径规划算法。

3.编写算法代码：根据所选的算法，编写相应的算法代码，并将其集成到机器人模拟软件中。

4.设置算法参数：根据实验需求，设置算法参数，如启发式函数的选择、地图尺寸、障碍物位置等。

5.运行算法：运行编写的算法代码，观察机器人在地图中的移动轨迹。

6.记录实验结果：记录机器人从起点到目标点的路径长度、运行时间等实验结果。

四、结果分析：1.路径长度比较：针对不同算法，比较机器人从起点到目标点的路径长度，分析算法在路径规划中的优势与劣势。

2.运行时间比较：比较不同算法的运行时间，分析算法的计算效率和实用性。

3.资源消耗比较：观察不同算法对计算机资源的消耗情况，如CPU的占用率、内存的使用等。

4.路径平滑度评价：对机器人路径的曲线进行评价，评估路径平滑度，以及机器人在遇到障碍物时的规避能力。

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Ⅰ. 单项选择1、________you please help me with my math problem?—OK, after I finish mine, I'll help you.A．Must B．Could C．May D．Might2、- Look, my father bought me a new iPad.- I don’t think we need too many expensive things though our parents can them.A．allow B．expectC．afford D．take3、In English, we say that sharin g a problem is like cutting it in half. So you’re halfway to solving a problem just _____ talking to someone about it.A．with B．by C．in4、Saving the earth begins with small things. For example, we can save electricity by turning off the lights when we leavea room. Simple things like bringing a________ bag to go shopping can also help.A．reusable B．reflected C．recycled5、----How did you get the MP4, from a shop or by phone?----________. I always like shopping online.A．None B. Neither C．Both D．All6、A friend in need is a friend indeed. The only way a friend is to be one.A．for having B．having C．to have7、- Look! The tree is growing well. When _____?-Three years ago.A．will it be planted B．did it plant C．was it planted D．is it planted8、My grandma didn’t go to sleep ______ I got back home.A．where B．untilC．as soon as D．while9、—Do you know which city Mr Zhang has gone to part in the celebrations?—Sure. He went to Shanghai with his secretary.A．take B．to take C．taking D．will take10、In France, you are supposed to put your bread on the __________.A．plate B．table C．deskⅡ. 完形填空11、James shook his money box again. Nothing! He carefully 1 the coins that lay on the bed, $24.52 was all that he had. The bicycle he wanted was at least $90! 2 on earth was he going to get the 3 of the money?He knew that his friends all had bicycles. It was 4 to hang around with people when you were the only one without wheels. He thought about what he could do. There was no point asking his parents, for he knew they had no money to 5 .There was only one way to get money, and that was to earn it. He would have to find a job. But who would hire him and what could he do? He decided to ask Mr. Clay for advice, who usually had 6 on most things.＂Well, you can start right here, ＂said Mr. Clay. ＂My windows need cleaning and my car needs washing.＂That was the 7 of James’ odd-job(零工) business. For three months he worked every day after finishing his homework. He was amazed by the variety of jobs that people 8 for him to do. He took dogs and babies for walks, cleared out cupboards, and mended books. He lost count of the 9 of cars he washed and windows he cleaned,but the 10 increased and he knew that he would soon have 11 for the bicycle he wanted.The day finally came when James counted his money and found $94.32. He 12 no time and went down to the shop to pick up the bicycle he wanted. He rode 13 home, looking forward to showing his new bicycle to his friends. It had been hard 14 for the money, but James knew that he valued his bicycle far more since he had bought it with his own money. He had 15 what he thought was impossible, and that was worth even more than the bicycle.1．A．cleaned B．covered C．counted D．checked2．A．How B．Why C．Who D．What3．A．amount B．part C．total D．rest4．A．brave B．hard C．smart D．unfair5．A．cost B．spend C．spare D．save6．A．decisions B．experience C．opinions D．knowledge7．A．beginning B．introduction C．requirement D．opening8．A．offered B．found C．promised D．looked9．A．brand B．number C．size D．type10．A．effort B．pressure C．money D．trouble11．A．all B．enough C．much D．some12．A．gave B．left C．took D．wasted13．A．patiently B．silently C．proudly D．carefully14．A．searching B．asking C．looking D．working15．A．imagined B．made C．achieved D．learnedⅢ. 语法填空12、A robot has started serving customers at a high-tech highway restaurant in Chongqing. After greeting customers at the gate, the robot 1．(name) Amy brings meals to customers. But 2．can a robot avoid walking into customers and the restaurant's human staff while walking? In fact, Amy has 3．in-built navigation system (导航系统) that allows it to choose a proper way to reach a customer's table without any problem. Orders 4．(place) at two tables that double as big touch screens and customers can order food there or simply on their own phones 5．scanning QR code(二维码). After they have ordered their food, diners can pay using a mobile payment app 6．as Alipay or WeChat Pay.While waiting for the orders, customers can use the special tables to play games, read some 7．(news), and check the traffic and weather conditions for their journey ahead.The robot catches everybody’s eyes with 8．(it) human-like appearance. It is really welcomed by customers and the restaurant 9．it not only cuts down much of business cost for the restaurant, but makes diners wait a much 10．(short) time. So the local government is trying to put them into use in the city's other service stations.Ⅳ. 阅读理解A13、Welcome to Can-I-Help-You.We offer different kinds of services to people in our community. If you need any of the followingservices,********************************************.EducationInformation on primary and middle schools. Tel: 2432-5678HousingInformation on buying or renting houses. Tel: 2432-5679Out-of-school ActivitiesInformation on activities and services for children aged between 5 and 18. Tel: 2432-5348Holiday ActivitiesDifferent activities for families in different seasons. Tel: 2432-5172HealthInformation on local health services, like hospitals and first aid. Tel: 2432-5533InsuranceInformation on car insurance, life insurance, etc. Tel: 2432-5666MarketsInformation on local supermarkets, farmers’ markets and farms. Tel: 2432­5338EntertainmentInformation on local places for fun, like cinemas and parks. Tel: 2432-5564Before and After School ChildcareInformation on school age childcare programs. Tel: 2432-55551．. If you need their services, you can __________.A．send them a letter B．go to their officesC．email them D．leave them a message2．. How many kinds of services do they offer?A．Six. B．Seven.C．Eight. D．Nine.3．. If you need someone to look after your eight-year-old child after school, you should call __________.A．2432-5679 B．2432-5172C．2432-5555 D．2432-533B14、阅读下列材料，从A、B、C、D四个选项中选出最佳答案，并把答题卡上对应题目的答案标号涂黑。

自动化英语专业英语词汇表文章摘要：本文介绍了自动化英语专业的一些常用的英语词汇，包括自动化技术、控制理论、系统工程、人工智能、模糊逻辑等方面的专业术语。

本文按照字母顺序，将这些词汇分为26个表格，每个表格包含了以相应字母开头的词汇及其中文释义。

本文旨在帮助自动化专业的学习者和从业者掌握和使用这些专业英语词汇，提高他们的英语水平和专业素养。

A英文中文acceleration transducer加速度传感器acceptance testing验收测试accessibility可及性accumulated error累积误差AC-DC-AC frequency converter交-直-交变频器AC (alternating current) electric drive交流电子传动active attitude stabilization主动姿态稳定actuator驱动器，执行机构adaline线性适应元adaptation layer适应层adaptive telemeter system适应遥测系统adjoint operator伴随算子admissible error容许误差aggregation matrix集结矩阵AHP (analytic hierarchy process)层次分析法amplifying element放大环节analog-digital conversion模数转换annunciator信号器antenna pointing control天线指向控制anti-integral windup抗积分饱卷aperiodic decomposition非周期分解a posteriori estimate后验估计approximate reasoning近似推理a priori estimate先验估计articulated robot关节型机器人assignment problem配置问题，分配问题associative memory model联想记忆模型associatron联想机asymptotic stability渐进稳定性attained pose drift实际位姿漂移B英文中文attitude acquisition姿态捕获AOCS (attritude and orbit control system)姿态轨道控制系统attitude angular velocity姿态角速度attitude disturbance姿态扰动attitude maneuver姿态机动attractor吸引子augment ability可扩充性augmented system增广系统automatic manual station自动-手动操作器automaton自动机autonomous system自治系统backlash characteristics间隙特性base coordinate system基座坐标系Bayes classifier贝叶斯分类器bearing alignment方位对准bellows pressure gauge波纹管压力表benefit-cost analysis收益成本分析bilinear system双线性系统biocybernetics生物控制论biological feedback system生物反馈系统C英文中文calibration校准，定标canonical form标准形式canonical realization标准实现capacity coefficient容量系数cascade control级联控制causal system因果系统cell单元，元胞cellular automaton元胞自动机central processing unit (CPU)中央处理器certainty factor确信因子characteristic equation特征方程characteristic function特征函数characteristic polynomial特征多项式characteristic root特征根英文中文charge-coupled device (CCD)电荷耦合器件chaotic system混沌系统check valve单向阀，止回阀chattering phenomenon颤振现象closed-loop control system闭环控制系统closed-loop gain闭环增益cluster analysis聚类分析coefficient of variation变异系数cogging torque齿槽转矩，卡齿转矩cognitive map认知图，认知地图coherency matrix相干矩阵collocation method配点法，配置法combinatorial optimization problem组合优化问题common mode rejection ratio (CMRR)共模抑制比，共模抑制率commutation circuit换相电路，换向电路commutator motor换向电动机D英文中文damping coefficient阻尼系数damping ratio阻尼比data acquisition system (DAS)数据采集系统data fusion数据融合dead zone死区decision analysis决策分析decision feedback equalizer (DFE)决策反馈均衡器decision making决策，决策制定decision support system (DSS)决策支持系统decision table决策表decision tree决策树decentralized control system分散控制系统decoupling control解耦控制defuzzification去模糊化，反模糊化delay element延时环节，滞后环节delta robot德尔塔机器人demodulation解调，检波density function密度函数，概率密度函数derivative action微分作用，微分动作design matrix设计矩阵E英文中文eigenvalue特征值，本征值eigenvector特征向量，本征向量elastic element弹性环节electric drive电子传动electric potential电势electro-hydraulic servo system电液伺服系统electro-mechanical coupling system电机耦合系统electro-pneumatic servo system电气伺服系统electronic governor电子调速器encoder编码器，编码装置end effector末端执行器，末端效应器entropy熵equivalent circuit等效电路error analysis误差分析error bound误差界，误差限error signal误差信号estimation theory估计理论Euclidean distance欧几里得距离，欧氏距离Euler angle欧拉角Euler equation欧拉方程F英文中文factor analysis因子分析factorization method因子法，因式分解法feedback反馈，反馈作用feedback control反馈控制feedback linearization反馈线性化feedforward前馈，前馈作用feedforward control前馈控制field effect transistor (FET)场效应晶体管filter滤波器，滤波环节finite automaton有限自动机finite difference method有限差分法finite element method (FEM)有限元法finite impulse response (FIR) filter有限冲激响应滤波器first-order system一阶系统fixed-point iteration method不动点迭代法flag register标志寄存器flip-flop circuit触发器电路floating-point number浮点数flow chart流程图，流程表fluid power system流体动力系统G英文中文gain增益gain margin增益裕度Galerkin method伽辽金法game theory博弈论Gauss elimination method高斯消元法Gauss-Jordan method高斯-约当法Gauss-Markov process高斯-马尔可夫过程Gauss-Seidel iteration method高斯-赛德尔迭代法genetic algorithm (GA)遗传算法gradient method梯度法，梯度下降法graph theory图论gravity gradient stabilization重力梯度稳定gray code格雷码，反向码gray level灰度，灰阶grid search method网格搜索法ground station地面站，地面控制站guidance system制导系统，导航系统gyroscope陀螺仪，陀螺仪器H英文中文H∞ control H无穷控制Hamiltonian function哈密顿函数harmonic analysis谐波分析harmonic oscillator谐振子，谐振环节Hartley transform哈特利变换Hebb learning rule赫布学习规则Heisenberg uncertainty principle海森堡不确定性原理hidden layer隐层，隐含层hidden Markov model (HMM)隐马尔可夫模型hierarchical control system分层控制系统high-pass filter高通滤波器Hilbert transform希尔伯特变换Hopfield network霍普菲尔德网络hysteresis滞后，迟滞，磁滞I英文中文identification识别，辨识identity matrix单位矩阵，恒等矩阵image processing图像处理impulse response冲激响应impulse response function冲激响应函数inadmissible control不可接受控制incremental encoder增量式编码器indefinite integral不定积分index of controllability可控性指标index of observability可观测性指标induction motor感应电动机inertial navigation system (INS)惯性导航系统inference engine推理引擎，推理机inference rule推理规则infinite impulse response (IIR) filter无限冲激响应滤波器information entropy信息熵information theory信息论input-output linearization输入输出线性化input-output model输入输出模型input-output stability输入输出稳定性J英文中文Jacobian matrix雅可比矩阵jerk加加速度，冲击joint coordinate system关节坐标系joint space关节空间Joule's law焦耳定律jump resonance跳跃共振K英文中文Kalman filter卡尔曼滤波器Karhunen-Loeve transform卡尔胡南-洛维变换kernel function核函数，核心函数kinematic chain运动链，运动链条kinematic equation运动方程，运动学方程kinematic pair运动副，运动对kinematics运动学kinetic energy动能L英文中文Lagrange equation拉格朗日方程Lagrange multiplier拉格朗日乘子Laplace transform拉普拉斯变换Laplacian operator拉普拉斯算子laser激光，激光器latent root潜根，隐根latent vector潜向量，隐向量learning rate学习率，学习速度least squares method最小二乘法Lebesgue integral勒贝格积分Legendre polynomial勒让德多项式Lennard-Jones potential莱纳德-琼斯势level set method水平集方法Liapunov equation李雅普诺夫方程Liapunov function李雅普诺夫函数Liapunov stability李雅普诺夫稳定性limit cycle极限环，极限圈linear programming线性规划linear quadratic regulator (LQR)线性二次型调节器linear system线性系统M英文中文machine learning机器学习machine vision机器视觉magnetic circuit磁路，磁电路英文中文magnetic flux磁通量magnetic levitation磁悬浮magnetization curve磁化曲线magnetoresistance磁阻，磁阻效应manipulability可操作性，可操纵性manipulator操纵器，机械手Markov chain马尔可夫链Markov decision process (MDP)马尔可夫决策过程Markov property马尔可夫性质mass matrix质量矩阵master-slave control system主从控制系统matrix inversion lemma矩阵求逆引理maximum likelihood estimation (MLE)最大似然估计mean square error (MSE)均方误差measurement noise测量噪声，观测噪声mechanical impedance机械阻抗membership function隶属函数N英文中文natural frequency固有频率，自然频率natural language processing (NLP)自然语言处理navigation导航，航行negative feedback负反馈，负反馈作用neural network神经网络neuron神经元，神经细胞Newton method牛顿法，牛顿迭代法Newton-Raphson method牛顿-拉夫逊法noise噪声，噪音nonlinear programming非线性规划nonlinear system非线性系统norm范数，模，标准normal distribution正态分布，高斯分布notch filter凹槽滤波器，陷波滤波器null space零空间，核空间O英文中文observability可观测性英文中文observer观测器，观察器optimal control最优控制optimal estimation最优估计optimal filter最优滤波器optimization优化，最优化orthogonal matrix正交矩阵oscillation振荡，振动output feedback输出反馈output regulation输出调节P英文中文parallel connection并联，并联连接parameter estimation参数估计parity bit奇偶校验位partial differential equation (PDE)偏微分方程passive attitude stabilization被动姿态稳定pattern recognition模式识别PD (proportional-derivative) control比例-微分控制peak value峰值，峰值幅度perceptron感知器，感知机performance index性能指标，性能函数period周期，周期时间periodic signal周期信号phase angle相角，相位角phase margin相位裕度phase plane analysis相平面分析phase portrait相轨迹，相图像PID (proportional-integral-derivative) control比例-积分-微分控制piezoelectric effect压电效应pitch angle俯仰角pixel像素，像元Q英文中文quadratic programming二次规划quantization量化，量子化quantum computer量子计算机quantum control量子控制英文中文queueing theory排队论quiescent point静态工作点，静止点R英文中文radial basis function (RBF) network径向基函数网络radiation pressure辐射压random variable随机变量random walk随机游走range范围，区间，距离rank秩，等级rate of change变化率，变化速率rational function有理函数Rayleigh quotient瑞利商real-time control system实时控制系统recursive algorithm递归算法recursive estimation递归估计reference input参考输入，期望输入reference model参考模型，期望模型reinforcement learning强化学习relay control system继电器控制系统reliability可靠性，可信度remote control system遥控系统，远程控制系统residual error残差误差，残余误差resonance frequency共振频率S英文中文sampling采样，取样sampling frequency采样频率sampling theorem采样定理saturation饱和，饱和度scalar product标量积，点积scaling factor缩放因子，比例系数Schmitt trigger施密特触发器Schur complement舒尔补second-order system二阶系统self-learning自学习，自我学习self-organizing map (SOM)自组织映射sensitivity灵敏度，敏感性sensitivity analysis灵敏度分析，敏感性分析sensor传感器，感应器sensor fusion传感器融合servo amplifier伺服放大器servo motor伺服电机，伺服马达servo valve伺服阀，伺服阀门set point设定值，给定值settling time定常时间，稳定时间T英文中文tabu search禁忌搜索，禁忌表搜索Taylor series泰勒级数，泰勒展开式teleoperation遥操作，远程操作temperature sensor温度传感器terminal终端，端子testability可测试性，可检测性thermal noise热噪声，热噪音thermocouple热电偶，热偶threshold阈值，门槛time constant时间常数time delay时延，延时time domain时域time-invariant system时不变系统time-optimal control时间最优控制time series analysis时间序列分析toggle switch拨动开关，切换开关tolerance analysis公差分析torque sensor扭矩传感器transfer function传递函数，迁移函数transient response瞬态响应U英文中文uncertainty不确定性，不确定度underdamped system欠阻尼系统undershoot低于量，低于值unit impulse function单位冲激函数unit step function单位阶跃函数unstable equilibrium point不稳定平衡点unsupervised learning无监督学习upper bound上界，上限utility function效用函数，效益函数V英文中文variable structure control变结构控制variance方差，变异vector product向量积，叉积velocity sensor速度传感器verification验证，校验virtual reality虚拟现实viscosity粘度，黏度vision sensor视觉传感器voltage电压，电位差voltage-controlled oscillator (VCO)电压控制振荡器W英文中文wavelet transform小波变换weighting function加权函数Wiener filter维纳滤波器Wiener process维纳过程work envelope工作空间，工作范围worst-case analysis最坏情况分析X英文中文XOR (exclusive OR) gate异或门，异或逻辑门Y英文中文yaw angle偏航角Z英文中文Z transform Z变换zero-order hold (ZOH)零阶保持器zero-order system零阶系统zero-pole cancellation零极点抵消。

江苏省常熟市第一中学2024年中考英语全真模拟试题含答案注意事项1．考试结束后，请将本试卷和答题卡一并交回．2．答题前，请务必将自己的姓名、准考证号用0．5毫米黑色墨水的签字笔填写在试卷及答题卡的规定位置．3．请认真核对监考员在答题卡上所粘贴的条形码上的姓名、准考证号与本人是否相符．4．作答选择题，必须用2B铅笔将答题卡上对应选项的方框涂满、涂黑；如需改动，请用橡皮擦干净后，再选涂其他答案．作答非选择题，必须用05毫米黑色墨水的签字笔在答题卡上的指定位置作答，在其他位置作答一律无效．5．如需作图，须用2B铅笔绘、写清楚，线条、符号等须加黑、加粗．Ⅰ. 单项选择1、--- ______ do you volunteer at the old people’s home?--- Once a month.A．How long B．How soon C．How far D．How often2、My book ___________ here in two days through the EMS.A．are sent B．is sent C．will be sent D．will send3、Milk quickly goes bad _______ it is put into the fridge.A．if B．unless C．whether D．until4、____________ pollution is heavy now，I don't think it's hopeless.A．Even though B．Because C．Ever since D．When5、Although I don’t feel very well myself, I will not go to hospital for some reason.A．certain B．a certain C．few D．a few6、―terrible mess you have made!―Sorry, I will clear it up right now.A．What B．What a C．How D．How a7、—Kitty is very good at musical instruments.—Yes, she is. She can play the guitar almost her guitar teacher.A．as better as B．as good as C．as well as D．so well as8、—Have you seen ______ movie Nice To Meet You?—Yes, it's ______ wonderful one.A．a, the B．the; a C．the; the D．a; a9、To my surprise, I ________ from hundreds of students to make a speech to teachers, parents and fellow students. A．were chosen B．was chosenC．chose D．will be chosen10、Y ou may remember some idioms in the text, but you can't possibly remember all the words in it.A．probably B．certainly C．hardly D．quicklyⅡ. 完形填空11、阅读下面短文，从短文后各题所给的ABCD四个选项中，选出可以填入空白处的最佳选项。

基于虚拟墙的移动机器人路径跟踪与实时避障方法王雄奇; 柯艳国; 吴贤斌; 朱仲贤; 董翔宇; 黄杰; 董二宝【期刊名称】《《机械与电子》》【年(卷),期】2019(037)011【总页数】5页(P76-80)【关键词】移动机器人; 路径跟踪; 避障; 沿墙走【作者】王雄奇; 柯艳国; 吴贤斌; 朱仲贤; 董翔宇; 黄杰; 董二宝【作者单位】国网安徽省电力有限公司检修分公司安徽合肥230061; 国网安徽省电力有限公司安徽合肥230061; 中国科学技术大学安徽合肥230026【正文语种】中文【中图分类】TP240 引言基于移动机器人技术的变电站巡检机器人近年来获得广泛应用。

这类移动机器人往往沿着变电站内的设定工作路径行走，遇到障碍物时即停车，由后台工作人员辅助绕障行走。

如何通过实时探测环境变化，遇到障碍物时进行绕障行走，并同时保持高精度的设定路径跟踪，成为变电站巡检机器人提高环境适应性的关键。

在有障碍物的非结构化环境下的精确路径跟踪同样也是移动机器人控制所面临的重要问题之一[1-2]。

能够将移动机器人的实时避障和路径跟踪控制结合起来的方法，通常可以分为2类[2-3]：一是重新路径规划。

这类方法在进行路径跟踪时，当传感器探测到环境发生变化，先更新地图信息并从全局角度规划好一条路径，再进行跟踪。

典型的重新路径规划算法有：A*算法[4]、D*算法[5]、智能仿生算法[6]、基于图形学的算法[7]。

这类算法可以使某一代价达到全局最优，如时间最短、路径最短等。

然而，这类方法需要环境的先验知识；算法复杂度随着搜索空间增大而迅速增加；当环境由于动态障碍物而频繁改变时，一次全局路径规划的时间很长，算法的实时性不强。

二是反应式的路径跟踪。

这类方法将机器人的行为划分为避障行为，趋向目标行为等，根据传感器所探测到的环境信息决定做出哪种行为[2-3,8-12]。

机器人的路径跟踪的效率本质上受全局路径规划结果的影响，而实时避障则是一个局部路径规划问题，很多时候二者之间存在矛盾，难以兼顾。

2024年报考攻读复旦大学机器学习博士专业学位研究计划书【模板】英文版Research Plan for Pursuing a Ph.D. Degree in Machine Learning at Fudan University in 20241. IntroductionI aspire to pursue a Ph.D. degree in Machine Learning at Fudan University in 2024 to further my knowledge and expertise in this field. This research plan outlines my goals, objectives, and proposed research topics for the program.2. Research GoalsMy primary goal is to conduct cutting-edge research in machine learning, focusing on areas such as deep learning, natural language processing, and computer vision. I aim to contribute new knowledge and advancements to the field through my research projects.3. Proposed Research TopicsSome of the proposed research topics for my Ph.D. program include:- Developing novel deep learning algorithms for image recognition - Investigating the application of machine learning in healthcare for predictive analytics- Exploring the use of reinforcement learning for autonomous robot navigation4. MethodologyI plan to employ a combination of theoretical analysis, algorithm development, and empirical evaluation in my research projects. I will utilize state-of-the-art machine learning techniques and tools to address the research questions and hypotheses.5. Timeline- Year 1: Literature review and research proposal development- Year 2: Data collection and algorithm design- Year 3: Implementation and experimentation- Year 4: Thesis writing and defense6. CollaborationI intend to collaborate with fellow researchers, faculty members, and industry partners to enhance the quality and impact of my research. I believe that collaboration is essential for fostering innovation and driving scientific progress.7. ImpactMy research endeavors aim to make a significant impact on the field of machine learning by addressing real-world problems and advancing the state-of-the-art in AI technologies. I hope to contribute to the academic community and industry through my research outcomes.8. ConclusionIn conclusion, my research plan for pursuing a Ph.D. degree in Machine Learning at Fudan University in 2024 is aimed at pushing the boundaries of knowledge in this field and making meaningful contributions to the scientific community. I am excited about the opportunity to embark on this academic journey and look forward to the challenges and discoveries that lie ahead.。

机器人使用指南英语作文英文回答：Robot User Guide.Thank you for purchasing our advanced robotic companion. This user guide will provide you with all the necessary information to operate and care for your new robot.Getting Started.1. Unpack the robot and all its accessories.2. Connect the power cord to the robot and anelectrical outlet.3. Turn on the robot using the power button on the back of its head.4. The robot will automatically begin calibrating itssensors and systems. This process may take a few minutes.Basic Functions.Movement: The robot can move forward, backward, left, and right using its wheels. To control its movement, use the joystick on the remote control.Communication: The robot can communicate with you through voice commands or the remote control. To give it a command, simply press the microphone button on the remote and speak.Object Recognition: The robot is equipped with advanced sensors that allow it to recognize and interact with objects in its environment.Obstacle Avoidance: The robot's sensors also enable it to detect and avoid obstacles, ensuring safe and efficient navigation.Advanced Functions.Home Mapping: The robot can create a map of your home environment, allowing it to navigate and perform tasks independently.Task Automation: You can program the robot to perform specific tasks, such as cleaning your floors or monitoring your security system.App Integration: The robot can be integrated with your smartphone app, providing you with remote access and additional functionality.Maintenance.To ensure optimal performance, please follow these maintenance guidelines:Cleaning: Regularly clean the robot's sensors, wheels, and body to remove dust and debris.Battery: Charge the robot's battery before it runs out.Software Updates: Regularly check for and install software updates to keep your robot up-to-date and improve its performance.Troubleshooting.If you encounter any issues with your robot, please refer to the following troubleshooting tips:Robot not responding: Check if the robot is turned on and properly connected to power. If the problem persists, try resetting the robot by pressing the reset button on its back.Robot not moving: Make sure the wheels are free from any obstructions and that the battery is charged.Robot not recognizing objects: Calibrate the robot's sensors by following the instructions in the user manual.Robot making strange noises: Inspect the robot for anyloose parts or damage. If the problem persists, contact technical support.中文回答：机器人用户指南。

关于机器人的专业术语机器人术语解析机器人是一种能够自动执行任务的机械装置。

在现代科技领域，机器人已经成为一个热门话题，被广泛应用于各个领域，如制造业、医疗保健、农业和服务业。

本文将解析与机器人相关的一些专业术语，帮助读者更好地理解和掌握机器人技术。

1. 人工智能（Artificial Intelligence，AI）人工智能是机器人技术中的重要组成部分。

它是一种模拟人类智能的技术，使机器能够像人类一样思考、学习和决策。

人工智能使机器人能够自主地处理复杂的任务，并根据环境和情境做出相应的反应。

2. 自主导航（Autonomous Navigation）自主导航是指机器人能够自主地在环境中移动和定位的能力。

通过使用传感器和算法，机器人可以感知周围的环境并制定路径规划，以达到目标位置。

自主导航是实现无人驾驶车辆和无人机等应用的关键技术。

3. 机器视觉（Computer Vision）机器视觉是指机器模拟和理解人类视觉的能力。

通过使用摄像头和图像处理算法，机器可以感知和分析图像中的对象、形状和运动。

机器视觉技术被广泛应用于检测、识别和跟踪物体，例如工业机器人中的物体抓取和质量检测。

4. 机器学习（Machine Learning）机器学习是一种让机器能够通过数据自主学习和改进的技术。

通过训练模型，机器可以从大量的数据中发现模式和规律，并用于预测和决策。

机器学习被广泛应用于人脸识别、语音识别和自然语言处理等领域。

5. 机械臂（Robotic Arm）机械臂是一种能够模拟人类手臂运动的机器人组件。

它通常由关节、驱动器和执行器等部件组成，可以完成各种复杂的动作，如物体抓取、搬运和装配。

机械臂在制造业中被广泛应用，提高了生产效率和质量。

6. 传感器（Sensor）传感器是机器人的感知器官，用于感知环境中的物理量和状态。

常见的传感器包括摄像头、激光雷达、红外线传感器和触摸传感器等。

通过传感器，机器人可以获取周围环境的信息，并作出相应的反应和决策。

基于机器视觉的工业机器人智能导航系统设计随着工业机器人在生产线上的应用越来越广泛，人们对于提升工业机器人的效率和使用的智能化程度的需求也越来越高。

在这个背景下，基于机器视觉的工业机器人智能导航系统成为了一项热门研究课题。

本文将围绕这一课题展开探讨，并提出一个设计方案。

智能导航系统是指通过图像识别和机器学习等技术，使工业机器人能够准确识别环境中的物体，并自主规划并执行路径，以实现在复杂环境下的自动导航和避障。

首先，我们需要建立一个可靠的图像识别模型。

基于深度学习的目标检测算法如YOLO（You Only Look Once）、Faster R-CNN等已经被广泛应用于工业机器人的视觉识别中。

这些算法能够快速而准确地标识出图像中的不同物体，并提供物体的位置和类别信息。

在使用这些算法时，我们需要根据实际应用场景，对所使用的物体类别进行训练，以提高识别的准确性。

其次，我们需要建立机器人的环境感知能力。

对于工业机器人来说，环境中的障碍物是导航过程中需要克服的主要问题之一。

为此，我们可以采用激光雷达、深度摄像头等传感器，获取环境中物体的距离和形状信息。

通过将传感器获取的数据与三维模型进行融合，我们可以构建出一个完整的环境地图，并对机器人周围的障碍物进行实时监测和定位。

然后，我们需要为机器人设计一个有效的路径规划算法。

路径规划算法的目标是使机器人以最短的路径，最高的速度和最小的能耗到达目标位置。

常用的路径规划算法包括A*算法、D*算法和RRT（Rapidly-Exploring Random Tree）算法等。

在设计路径规划算法时，我们需要考虑到机器人的可行性，即避免机器人与环境中的障碍物发生碰撞。

另外，为了实现智能导航和避障，我们还需要为机器人设计一个自适应的控制系统。

这个控制系统可以根据环境中物体的运动情况，在机器人进行路径规划和执行过程中对参数进行动态调整。

这样可以使机器人能够更好地适应不同的工作场景，并实现高效的导航和避障。