嵌入式轮式机器人实验平台设计与实现  

Design and Implementation of Embedded Wheeled Robot Experimental Platform

作　　者：张海涛[1] 方明[1] 付飞蚺[1] 

机构地区：[1]长春理工大学计算机科学技术学院,长春130022

出　　处：《吉林大学学报（信息科学版）》2016年第5期670-675,共6页Journal of Jilin University（Information Science Edition）

基　　金：吉林省留学回国人员择优基金资助项目(RL201329);吉林省科技发展计划基金资助项目(20130101054JC;20140204047GX);长春理工大学青年基金资助项目(XQNJJ-2013-08)

摘　　要：为解决科研用机器人价格昂贵、扩展性差的问题,给出嵌入式轮式机器人实验平台的设计。从平台硬件环境的搭建,Linux设备驱动程序开发,嵌入式多线程服务器的设计,上位机软件设计等,详细讨论了轮式机器人实验平台的设计及开发过程。该平台能通过MPU6050六轴传感器和HMC5883电子罗盘实时获取姿态角和航向角;能实时地将采集到的视频流及传感器数据发送到上位机客户端,同时接收并处理来自客户端的控制指令,进行运动控制、避障处理等。实验结果表明,该轮式机器人实验平台与PC之间数据及指令传输流畅稳定,造价低廉,功能丰富,模块化程度高,能满足开展机器视觉与导航等领域研究的要求。In order to solve scientific robots＇ expensive and poor extensibility for research. The design and development process of wheeled robot experiment platform is discussed in detail from the setup of platform hardware environment, development of Linux equipment drive program, design of embedded muhi-threaded server and upper computer software design. The platform can acquire the attitude angle and course angle from time to time with MPU6050 six-axis sensor and HMC5883 electronic compass, send the acquired video streaming and sensor data to the upper computer client, receive and process the control command from the client to conduct motion control and obstacle avoidance processing. The experimental results show that the data and command transmission between wheeled robot experiment platform and PC is smooth and stable, which can meet the requirement of research in the field of machine vision and navigation.

关 键 词：轮式机器人平台 嵌入式系统 V4L2驱动框架 MPU6050传感器 HMC5883电子罗盘 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]