自主移动机器人控制系统软件设计

电气工程论文编号:DQ235   论文字数:30332,页数:60

摘要：随着机器人在非结构化环境中使用的越来越来频繁，机器人所承担的任务与日俱增。8位的微处理器比如MCS-51已经不能满足任务需要。32位的处理器已经成为机器人首选的控制核心。本文提出了一种用于移动机器人的控制方案。这个方案采用红外线和超声波传感器进行定位和避障，使用直流电机实现机器人移动，使用带有嵌入式操作系统µCLinux的ARM芯片S3C44B0X作为CPU。在潜入式操作系统中，应用程序必须通过设备驱动程序才能访问硬件设备，因此必须开发上述硬件的驱动程序。本文详细讲解了直流电机、红外线传感器和超声波传感器的开发细节。另外，还开发了避障应用程序。本文开发的移动机器人不仅实现了诸如前进、后退、左传、右转等基本功能，还实现了避障功能。
关键词： 移动机器人；自主避障；嵌入式系统；驱动程序

Abstract:Robot appears more and more frequently in non-structural environment. The tasks robots take have increased steadily. MCUs with 8-bit CPU, such as MCS-51, cannot afford these requirements. MCUs with 32-bit CPU become the first choice for robots. This thesis proposes a control scheme for autonomous mobile robot. The scheme uses infrared and ultrasonic sensors for localization and obstacle avoidance, use DC motor for driving, and use the ARM chip S3C44B0X as CPU, which embed the embedded OS µCLinux. In embedded OS, the application programs have to access hardwares via devices drviers, so it is necessary to develop device driver for above hardware. This thesis described the details for developing device drviers for DC motor, infrared sensors and ultrasonic rangers. The application program for obstacle avoidance is developed also. The mobile robot can perform basic behaviours such as forward moving, backward moving, left turning, right turning and obstacle avoidance.
Keywords: Mobile Robot；Autonomous Obstacle Avoidance；Embedded Systems；Device Drivers