基于ARM的自主移动机器人控制系统设计  

Design of control system for autonomous mobile robot based on ARM

作　　者：陈剑斌[1] 田联房[1] 王孝洪[1] 

机构地区：[1]华南理工大学自动化学院,广州510640

出　　处：《机械设计与制造》2011年第6期160-162,共3页Machinery Design & Manufacture

基　　金：国家863计划资助项目(2008AA04Z213);广东省科技攻关项目基金资助(2005B10201006);广州市科技攻关重点项目(2007Z2-D0031)

摘　　要：自主移动机器人是近年来研究热点,基于三节履带式机器人机械结构,提出了以ARM架构微处理器s3c2410为核心、多传感器的自主移动机器人控制系统,采用了Linux嵌入式操作系统作为S3c2410软件开发平台。微处理器外部扩展数字电路采用了CPLD来实现,减少了外围分立元件的使用及PCB面积,可靠性高、抗干扰能力强;基于Verilog语言对CPLD进行了设计与实现。ARM与CPLD采用ISA总线方式通信,整个控制系统具有良好的可扩展性、硬件可裁剪性。通过爬楼梯、避障等实验,验证了机器人具有良好的自主移动性能。Autonomous mobile robot is a new hot in recent years.A control system for autonomous mobile robot is proposed based on the mechanical structure of three tracked robot using ARM microprocessor S3c2410 as core with multi-sensors.Embed OS-Linux is adopted as a development platform for S3c2410 software.And the external expended digital circuits of microprocessor are realized by CPLD which program is designed by Verilog HDL,which reduces the use of external discrete components and PCB area,with high reliability and anti-interference ability.ARM communicates with CPLD by ISA bus,so the control system is of well scalability and pruning of hardware.The robot was tested by experiments such as climbing stair,avoiding obstacle,etc.to be good with autonomous mobility.

关 键 词：自主移动机器人 多传感器 控制系统 ARM CPLD 

分 类 号：TH16[机械工程—机械制造及自动化] TP242[自动化与计算机技术—检测技术与自动化装置]