基于MC68332的轮式移动机器人设计  

Design of Wheeled Mobile Robot Based on MC68332

作　　者：何慧[1] 冀常鹏[2] 何智[1] 

机构地区：[1]辽宁工程技术大学研究生学院 [2]辽宁工程技术大学电子与信息工程学院,辽宁葫芦岛125105

出　　处：《装备制造技术》2008年第6期73-74,共2页Equipment Manufacturing Technology

摘　　要：介绍了以Motorola公司32位单片机MC68332为智能控制系统核心的轮式移动机器人及硬件和软件设计。移动轮式机器人采集CMOS传感器信号智能分析指定线路径信息,自动控制舵机转向,并完成电机的速度控制和PID控制算法。经过试验测试,能过满足轮式移动机器人运动控制要求,达到了较好的控制效果。A wheeled mobile robot taking the Motorola 32 bit MCU MC68332 as the intelligent control unite and its hardware and software design were introduced. Which identified and analyzed the road information from the CMOS sensor, energized the actuator to steer automatically and speed measurement and the PID control arithmetic was completed. The experiment proved that the system could work well and satisfy the need of wheeled mobile robot.

关 键 词：移动机器人 控制系统 测速 PID算法 

分 类 号：TP332.3[自动化与计算机技术—计算机系统结构]