自主移動機器人控制系統軟件設計

電氣工程論文編號:DQ235   論文字數:30332,頁數:60

摘要：隨著機器人在非結構化環境中使用的越來越來頻繁，機器人所承擔的任務與日俱增。8位的微處理器比如MCS-51已經不能滿足任務需要。32位的處理器已經成為機器人首選的控制核心。本文提出了一種用于移動機器人的控制方案。這個方案采用紅外線和超聲波傳感器進行定位和避障，使用直流電機實現機器人移動，使用帶有嵌入式操作系統µCLinux的ARM芯片S3C44B0X作為CPU。在潛入式操作系統中，應用程序必須通過設備驅動程序才能訪問硬件設備，因此必須開發上述硬件的驅動程序。本文詳細講解了直流電機、紅外線傳感器和超聲波傳感器的開發細節。另外，還開發了避障應用程序。本文開發的移動機器人不僅實現了諸如前進、后退、左傳、右轉等基本功能，還實現了避障功能。
關鍵詞： 移動機器人；自主避障；嵌入式系統；驅動程序

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