基于DSP与超声波测距的农业机器人定位与避障控制  

Localization and Obstacle Avoidance Control of Agricultural Robot Based on DSP and Ultrasonic Distance Measurement

作　　者：王盟[1] 

机构地区：[1]天津冶金职业技术学院电子信息工程系,天津300400

出　　处：《农机化研究》2017年第8期207-211,共5页Journal of Agricultural Mechanization Research

基　　金：天津市教委教育信息化战略研究基金项目(X2014-022);教育部高校硕士点基金项目(200801120007)

摘　　要：随着新兴电子集成技术和自动化技术的发展,控制系统已逐渐向数字化转变,高集成芯片广泛应用于自动化控制领域,体积小、运算能力强的嵌入式系统慢慢开始取代计算机。为此,首先分析了超声波测距功能及其优越性,采用三球定位技术,设计研究了一种基于DSP和超声波的全局定位系统;然后,采用多路超声波收发模块设计了基于超声波的自主避障控制系统,并提出一种新的模糊推理方法,实现机器人的避障和路径规划功能;最后,采用Visual C++可视化程序设计软件对避障系统进行仿真和场地试验,验证了系统的可靠性和可行性,为机器人的研究和发展提供了更加宽广的空间。With the development of the gradually shift to digital high integrated electronic integration technology and automation technology, control system has chip widely used in the field of automation and control, small volume, strong computing ability of embedded system slowly began to replace the computer. At first, this paper analyzes the ultrasonic ranging function and its advantages, the three global positioning technology is researched and designed a kind of global positioning system based on DSP and ultrasonic. Then the multi-channel ultrasonic transceiver module design the ultra- sonic based autonomous obstacle avoidance control system, and puts forward a new method of fuzzy reasoning, realizes the robot obstacle avoidance and path planning function; at last, using Visual C ＋ ＋ programming visualization software for obstacle avoidance system simulation and field test to verify the reliability and feasibility of the system, which provides a broader space for the research and development of the robots.

关 键 词：农业机器人 定位 避障 DSP 超声波测距 路径规划 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] U463.6[自动化与计算机技术—控制科学与工程]