摘要
介绍了一种基于双ARM Cortex架构的移动机器人控制器设计.基于ARM Cortex A8架构的S5PV210处理器作为上层控制模块的处理器,而基于ARM Cortex M3架构的STM32单片机作为底层控制器,二者之间采用Modbus协议通过RS232进行通信.S5PV210处理器使用Linux操作系统和QT/Embeded嵌入式图形界面,具有网络、视频、Wifi及3G等多种接口.STM32单片机具有丰富的IO,PWM和AD等接口,可以感知外部环境和控制电机运动,由此设计出的通用移动机器人控制器具有结构清晰、实时性好和通用性强等优点.
A design and implementation of a mobile robot controller on dual ARM Cortex architecture was presented.Processor S5PV210was upper controller of ARM Cortex A8architecture,and communicated with lower controller STM32of ARM Cortex M3architecture,through RS232bus and modbus as protocol.S5PV210processor had abundant interface with linux and QT/Embedded graphic interface,such as network,video,Wifi,3G.STM32could sense external environment and control the motor by interface,thus a universal mobile robot controller was designed with well-organized, good real-time,and universality.
出处
《华中科技大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2013年第S1期284-288,共5页
Journal of Huazhong University of Science and Technology(Natural Science Edition)
