基于达芬奇的移动机器人开发平台设计  

Design of Developing Platform for Mobile Robot Based on DaVinci Technology

作　　者：周军[1] 徐卫[1] 刘广存 蔡庆安[1] 

机构地区：[1]河海大学机电工程学院,常州213022 [2]南京理工科技园股份有限公司,南京210014

出　　处：《自动化仪表》2007年第10期28-30,共3页Process Automation Instrumentation

摘　　要：针对传统移动机器人的实时性差和扩展性差的局限性,在达芬奇技术的基础上,通过裁减定制,去除冗余的功能,设计了一种移动机器人的开发平台。该机器人系统包括移动机器人需要的视觉系统,并有丰富的运动控制接口以及驱动模块。同时,设计了多传感器融合、无线网络通信、路径规划、运动控制、人机界面等移动机器人的测试软件和应用模块。该移动机器人平台也具有模块化、硬件体积小、功耗低、可移植、可扩展、实时性强等优点。To overcome the limitations of real-time performance and expandability of traditional mobile robots, a developing platform for mobile robot based on DaVinci technology is designed by customizing the system and cutting out the redundant functions. The robot system includes vision system needed by the mobile robot, and has abundant movement control interface and driver modules. In addition, various test software and application modules for the mobile robot are designed, such as multi-sensor data fusion, wireless network communication, path planning, motion control and human-robot interface, etc. The mobile-robot platform is modularized, expandable and transplantable, and it also offers the advantages, such as compact hardware, low-power and good real-time performance.

关 键 词：达芬奇技术 全景视觉 RTLINUX 移动机器人 冗余 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]