摘要
机器人所需要的多种传感器和执行器的兼容与接口问题日益突出 ,为降低建立和维护机器人感知系统的成本与复杂度 ,提高可靠性 ,本文基于智能化、网络化的设计思想 ,借助 IEEE1 45 1智能变送器接口标准和现场总线技术 ,搭建了一个分布式、开放的机器人网络化感知系统。并针对传感器即插即用和传感器静、动态标定与性能评估等需求 ,详细介绍了感知系统的软硬件构成与网络接口设计。实测结果表明 ,系统运行稳定 ,实时性良好 ,为机器人实现更高级智能 ,完成更复杂任务提供了一个可靠的平台。
Nowadays the robot is getting smarter with increasing intelligence, and the robot requires many sensors and actuators. But they do not have interfaces compatibled with each other. It leads to high costs and a high complexity, and makes the system hard to be built and maintained. This paper presents a problem to multi-sensor system for the robot with special emphasis on standardized transducer interface and open network communication. Based on the IEEE 1451 networked smart transducer interface standard and field bus technology, a design of robot networked perceptual system is introduced. The HW/SW structure and the network interface are discussed. Experiments show robust performance and good real-time capability of the system.
出处
《数据采集与处理》
CSCD
2004年第1期41-45,共5页
Journal of Data Acquisition and Processing
基金
国家 8 63计划 (2 0 0 1 AA42 3 3 0 0 )资助项目
国家自然科学基金 (60 1 75 0 2 7)资助项目
