移动机器人分布式控制系统的设计  

Design of distributed control system for mobile robot

作　　者：蔡自兴[1] 邹小兵[1] 王璐[1] 段琢华[1] 于金霞[1] 

机构地区：[1]中南大学信息科学与工程学院,湖南长沙410083

出　　处：《中南大学学报（自然科学版）》2005年第5期727-732,共6页Journal of Central South University:Science and Technology

基　　金：国家自然科学基金资助项目(60234030)

摘　　要：针对自行研制的移动机器人(IMR01)设计并实现了一个分布式控制系统。IMR01采用激光雷达平台、多视觉系统作为环境感知器。利用2-D平面扫描的激光测距传感器,通过传感器平台俯仰与水平的转动实现在3-D环境感知,建立地形的高度图以分析可行区域与障碍区域。利用光纤陀螺仪、倾角仪及里程计等传感器构建移动机器人航向制导系统。控制系统基于多系统集成的低功耗工控机(IPC),在硬件上具有良好的扩展性能;通过无线网桥实现车载局域网与实验室监控系统的通讯。分布式控制系统通过异构Agent间的协作实现复杂环境下的感知与导航控制。A distributed control architecture was designed and implemented for a mobile robot （IMR01）. Laser scanner and multi computer vision system were equipped to detect the environment. A 2-D laser rangefinder Lms291 was adopted to build terrain map through the pitch and horizontal rotation of a sensor platform. An elevation map of terrain was built and used for terrain analysis. A navigation guidance system is composed of fibre-gyro, tilt sensor and odometer. The control system comprises a multiple industrial personal computer （IPC） system with low power-consuming CPU, and has good hardware scalability. Communication between the on-board local network robot and the remote monitor system in laboratory is realized through wireless local area network. The navigation control is implemented with the cooperation among heterogeneous Agents.

关 键 词：移动机器人 分布式控制 环境感知 异构智能体网络 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]