自主移动机器人嵌入式控制系统研究  

On the Embedded Control System for Autonomous Mobile Robot

作　　者：张云洲[1] 吴成东[1] 薛定宇[1] 王斐[1] 

机构地区：[1]东北大学信息科学与工程学院,辽宁沈阳110004

出　　处：《东北大学学报（自然科学版）》2008年第1期29-32,共4页Journal of Northeastern University(Natural Science)

基　　金：国家自然科学基金资助项目(60475036);国家科技部国际合作重点项目(2003DF020009)

摘　　要：为提高轮式自主移动机器人控制系统的性能,采用高性能微处理器设计了一种嵌入式控制系统.基于分层递阶控制的思想将双处理器应用于不同层次,分别实现高速复杂运算和运动实时控制.系统引入了多种环境感知器件,采用模糊逻辑实现准确的运动路线控制,通过视觉对目标位置的状态提供准确的判断,具有模块化、控制灵活、可靠性高等优点.实际应用表明该控制系统具有良好的实时性和鲁棒性.To improve the control system performance of wheeled autonomous mobile robots, an embedded control system was designed and implemented with advanced microprocessor. Based on the hierarchic control method, two processors were applied to different control levels so as to attain complicated high-speed algorithm and real-time control. Multiple sensors were introduced to sense the environmental conditions with implemented via fuzzy logic for accurate control of moving route. Then, an actual status of target position could be judged visually. The system thus acquires many advantages such as modular structure, control flexibility and high reliability. The actual application results reveal that the system owns good real-time response and robustness.

关 键 词：自主机器人 嵌入式系统 分层递阶控制 环境感知 行为决策 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]