多移动微机器人的实时无线通信机制研究  

Research on Real-time Wireless Communication Mechanism for Multiple Mobile Micro-robots

作　　者：毛玲 李振波[2] 陈佳品[2] Mao Ling;Li Zhenbo;Chen Jiapin(College of Electrical Engineering,Shanghai University of Electric Power,Shanghai 200090,China;College of Electronics and Electrical Engineering,Shanghai Jiao Tong University,Shanghai 200240,China)

机构地区：[1]上海电力学院电气工程学院,上海200090 [2]上海交通大学电子与电气工程学院,上海200240

出　　处：《电气自动化》2018年第4期24-27,共4页Electrical Automation

基　　金：国家自然科学基金(E050103)

摘　　要：针对多移动微机器人应用系统对数据传输实时性的要求,在实时以太网协议RT-EP的基础上,使用令牌传送机制及时间槽通信机制设计了相应的通信协议RT-MRCP,满足了数据传输的实时性。并设计了实时通信协议RT-MRCP的错误处理机制,分析了通信协议RT-MRCP的实时特性。试验证明了通信协议RT-MRCP的实时性能。To satisfy the requirement on data transmission real-time performance for the multiple mobile micro-robot application system,on the basis of Real-time Ethernet Protocol（ RT-EP）,token-passing mechanism and time slot communication mechanism was used to design communication protocol RT-MRCP,which could the real-time performance of data transmission. Furthermore,an error handling mechanism was designed for real-time communication protocol RT-MRCP and its real-time performance was analyzed.Experimental results have verified real-time performance of communication protocol RT-MRCP.

关 键 词：微机器人 实时通信 时间槽 令牌传送 小规模网络 

分 类 号：TP393.04[自动化与计算机技术—计算机应用技术]