摘要
为了解决封闭式移动机器人控制系统存在的诸多问题,提出并实现了一种基于32位嵌入式系统的开放式移动机器人控制系统。开放式控制器集成了友好的人机界面、两种无线通讯接口和多种串行接口,通过串口与本体控制器通讯。系统软件采用嵌入式μC/GUI、轻量级TCP/IP协议栈LwIP和实时多任务操作系统内核μC/OS-II,以多任务和多任务通讯机制管理移动机器人各应用功能模块。讨论了命令控制台和无线通讯等开放式应用方法。将提出的控制系统应用于吸尘机器人平台,实验表明,该系统具有良好的开放性,为功能扩展、多机协调、远程控制和人机混合控制提供了解决方案。
In order to overcome the inherent problems existing in close control system of mobile robot,an open control system based on 32-bits embedded system was designed and implemented.The open controller communicates with the mechanical controller through UART and integrates friendly user interface,two kinds of wireless communication methods and some serial ports.Embedded μC/GUI,light weight embedded TCP/IP protocol and μC/OS-Ⅱ,which possessed a good performance in real time and multitask,were applied in the system software.The application functions were designed based on the mechanism of multitask and multitask-communication.Open applications were discussed focusing on the console and wireless communications.Results of experiments on the autonomous cleaning robot indicate that,the proposed control system has a open performance,and provides a good platform for functions expanding,multi-robot collaborating,remote control and man-machine-based hybrid control.
出处
《机电工程》
CAS
2007年第9期56-58,66,共4页
Journal of Mechanical & Electrical Engineering
