摘要
根据低成本二维激光雷达的三角测距系统,设计了一种基于二维激光雷达的双ARM Cortex—M4架构的移动机器人避障控制系统;该控制系统采用两块STM32F407为硬件平台,二者之间通过串口进行通信;通过多线程任务划分,按照不同优先级的调度任务实现移动机器人的实时避障功能;移动机器人采用直流减速电机,并以二次曲线拟合速度控制决策算法;实验结果表明,系统能很好地达到实时避障的目的。
A mobile robot obstacle avoidance control system based on 2D laser radar with dual Cortex-- M4 ARM architecture is de- signed, which is based on the low cost 2D laser radar＇ s triangulation ranging system. The control system uses two STM32F407 as the hardware platform, which communicate through the serial port. According to the task of multiple threads, the real--time obstacle avoidance function of mobile robot is realized by the scheduling tasks with different priorities. The robot uses DC motor, and make speed control deci sions by quadratic curve fitting algorithms. The experimental results show that the system can achieve the purpose of real--time obstacle a- voidance.
出处
《计算机测量与控制》
2016年第10期202-204,208,共4页
Computer Measurement &Control
