摘要
目前轮式移动机器人的运动控制已有多种方式,怎样以最优异的方式和最低的成本实现需要的功能就变得尤为重要,本文设计了一种四轮移动机器人的运动控制方式及自主避障的方案.用ARM2440核心板及设计相应的底板,选用直流有刷伺服电机,设计基于HIP4081芯片的电机驱动电路,利用PWM调节占空比,控制电机的正反转及转速,从而进行移动机器人的运动控制,并选用E18-D80NK接近式光电传感器,编写相应的控制程序和上位机程序来达到机器人自主避障的目的.
At present, there are many methods to control the motion of Wheeled Mobile Robot （WMR）,then it is very important to know how to fulfill the required functions with the best method and the lowest cost. This paper presents a program of motion control and autonomous obstacle avoidance of WMR,taking the ARM2440 as the core hoard, designing the corresponding baseboard and using the DC brush servo motor. This program design is based on the motor drive circuit of HIP4081 chip, using the PWM to control duty ratio and rotating direction and rotating speed of the motor so as to control the motion of WMR. Also,with taking E18-D80NK proximity photoelectric sensor,writing the corresponding controlling program and PC controlling program, this program can achieve the goal of autonomous obstacle avoidance of WMR.
出处
《天津理工大学学报》
2017年第2期12-17,共6页
Journal of Tianjin University of Technology
基金
国家自然科学基金(51575544)
澳门科技发展基金(110/2013/A3)
关键词
移动机器人
ARM
占空比
自主避障
mobile robot
ARM
duty ratio
autonomous obstacle avoidance
