基于CPLD的移动机器人导航系统设计  

Obstacle Avoidance System for Robot Navigation Base on Ultrasonic Phased Array Technology

作　　者：厉彦忠 杨济民[1] 李雯雯[1] 杨娟[1] 李大鹏[1] 

机构地区：[1]山东师范大学,山东济南250014

出　　处：《科技信息》2011年第11期I0066-I0066,I0043,共2页Science & Technology Information

摘　　要：目前,自主行走机器人在众多领域发挥了越来越重要的作用。如在救援应用中,自主行走机器人能够深入到人类难以到达的地方获得很有价值的信息,从而为救援工作提供极大的帮助,挽救人的生命和财产。本文以救援机器人在为基础,设计了一种基于单片机的超声相控阵导盲避障系统,主要介绍系统的架构和超声相控阵导盲的实现方法。系统的主控芯片采用STM32,利用CPLD实现相控阵信号在空间的聚焦。该设计能够对地形进行简单探测,得出移动机器人可以通过的通道。该导航避障系统性能稳定,成本低,易于实现。At present, the autonomous walking robot has played an increasingly important role in many fields. For example, autonomous walking robot can reach deep into places where humans hardly to go to obtain valuable information in the rescue applications. So that we can save human lives and property with the great help of autonomous walking robot. In this paper, we designed a microcontroller-based phased array Avoidance System Guide based on the rescue robot, which mainly introduces the architecture of the system and the implementation of phased array guide. The master chip of the system implement phased array signal focus in space by STM32, CPLD. The design can be using in simple terrain exploration to find out the way which the mobile robots can go. The system has the advantages of stability, low cost,and easy to implement.

关 键 词：自主行走机器人 超声相控阵 STM32 CPLD 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]