开放式多传感器移动机器人硬件系统设计  

Design of Hardware System of Open Multi-sensor Mobile Robot

作　　者：应鹏[1] 宫晨[1] 

机构地区：[1]浙江大学电气工程学院,浙江杭州310027

出　　处：《机床与液压》2009年第7期137-140,共4页Machine Tool & Hydraulics

摘　　要：为提高多传感器移动机器人的控制性能,采用高性能工业计算机设计了一种嵌入式控制系统。该系统包括运动控制、视觉传感器、超声波传感器、激光传感器、无线通信系统等模块。对系统架构、组件设计、硬件调试进行分析和阐述。通过调试软硬件使系统达到了设计要求,实验表明该机器人控制系统有较强的稳定性和鲁棒性。To improve the control system performance of multi-sensor mobile robot, an embedded system was designed and implemented with advanced industrial computer. The system includes module of motion control, vision sensor, ultrasonic sensor, laser sensor, wireless communication. And system architecture, module design, hardware debugging were analyzed and expounded. The system achieves design requirement by means of hardware and software debugging, the actual application results reveal that the system owns good stability and robustness.

关 键 词：移动机器人 嵌入式系统 运动控制 多传感器融合 超声波 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]