机器人分层分布式控制系统设计与实现  

Design and realization of a Stratified and Distributed Control System on Robot

作　　者：李荣华[1,2] 褚金奎[1,2] 王洪青[1,2] 李庆瀛[1,2] 

机构地区：[1]大连理工大学精密与特种加工教育部重点实验室,116023 [2]辽宁省微纳米技术及系统重点实验室,大连116023

出　　处：《微计算机信息》2008年第32期229-230,245,共3页Control & Automation

基　　金：国家自然科学基金资助项目(50775017);国家重点基础研究发展计划973项目(2006CB300407)

摘　　要：本文针对两轮差速驱动移动机器人设计了一种分层分布式控制系统。系统由上到下分为主控中心决策层、车载PC运算层、下位机驱动子层以及位置反馈子层;主控中心决策层和车载PC运算层之间通过无线网卡进行数据传输;下位机驱动子层和位置反馈子层分别采用独立的单片机对系统任务进行分布式并行处理,并通过串口与车载PC运算层进行通信。该控制系统在移动机器人平台进行运动控制性能测试,结果表明,分层分布式控制方式控制精度高,系统响应迅速;同时该控制系统具有超强的计算能力和二次开发潜力,根据功能需要可在各个子层进行分布式扩展。In this paper, one kind of stratified and distributed control system is designed aimed at the mobile robot with two driving wheels. The system includes the master control center level, the onboard PC level, the hypogyny computer driving sub level and the position feedback sub level; The datum between the master control center level and the onboard PC level are translated with wireless adapter; The hypogyny computer driving sub level and the position feedback sub level separately use the independent MCU to process to the system task in the distributed and parallel way, and communicate with the onboard PC level through the Serial ports. This control system is carried on the movement control performance test on the mobile robot platform and the result shows that the stratified and distributed control system has the high precision and the rapid system response; Simultaneously, this control system has the strong computation ability and secondary development potential. It could carry on the distributional expansion in the sub levels according to the functional need.

关 键 词：移动机器人 分层 分布式 控制系统 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]