摘要
为了提高足球机器人动作方案选择准确度和实时性,本文提出了一种基于FPGA并移植NIOSII片上系统的CAN总线设计方案,应用于足球机器人内部通讯,连接主机与监控设备、电机、图像采集装置、避障传感器等器件,解决了传统串行通讯方式总线利用率与数据传输速率较低,无容错机制等问题,使机器人的执行能力更加快速、准确、有效。
In order to imporve the accuracy and real-time of soccer robot action plan,this paper presented a plan based on TPGA.Meanwhile,the plan was transplonted to the NIOSII chip.The presented plan was applied to internal communications about soccer robots,connect the system and monitoring equipment,motor,image acquisition device,obstacle avoidance sensors and other devices.The plane solved the traditional seriol communication bus utilization,low data rote,no fault tolerance and other issues.Finally,the implementation capacity of the robot is more rapid,accurate and effective.
出处
《长春理工大学学报（自然科学版）》
2011年第2期87-89,共3页
Journal of Changchun University of Science and Technology(Natural Science Edition)
