基于Mindstorms的智能机器人控制系统开发  

Control System Development of Intelligent Robot Based on Mindstorms

作　　者：程翀 郭晓彬 陈祥磊 李超群[1,2] 熊辉 CHENG Chong;GUO Xiaobin;CHEN Xianglei;LI Chaoqun;XIONG Hui(Hubei Key Laboratory of Advanced Technology for Automotive Components,Wuhan University of Technology,Wuhan 430070,China;Hubei Collaborative Innovation Center for Automotive Components Technology,Wuhan 430070,China)

机构地区：[1]武汉理工大学现代汽车零部件技术湖北省重点实验室,武汉430070 [2]汽车零部件技术湖北省协同创新中心,武汉430070

出　　处：《武汉理工大学学报（交通科学与工程版）》2018年第2期247-252,共6页Journal of Wuhan University of Technology（Transportation Science & Engineering）

基　　金：湖北省科技厅基金项目资助(2016BEC116)

摘　　要：为实现智能汽车辅助控制系统功能算法的快速开发与验证,以Mindstorms平台为基础,采用前驱差速、前转向和被动悬架来搭建四轮智能机器人物理结构.在控制系统底层模块开发中,通过UDP协议实现机器人和PC的通信,利用PD方法实现电机的底层速度控制.在应用层控制策略开发中,利用计算机视觉来实现车道保持功能,利用超声波雷达实现自主换道和自主制动功能.最后将Simulink控制系统模型生成嵌入式代码,下载到Mindstorms控制器,实现智能机器人的实时控制.In order to realize the fast development and verification of the function and algorithm of the intelligent vehicle auxiliary control system,the physical structure of the four wheeled intelligent robot was built by using front differential,front steering and passive suspension based on the Mindstorms platform.In the development of the underlying module of control system,UDP protocol was used to realize communication between robot and PC,and PC method was adopted to realize the underlying velocity control of electric machine.In the development of application layer control strategy,computer vision was used to achieve the lane keeping function and ultrasonic radar was adopted to realize autonomous lane changing and autonomous braking function.Finally,the embedded code was generated from the Simulink control system model,and downloaded to the Mindstorms controller to achieve the real time control of intelligent robot.

关 键 词：MINDSTORMS 计算机视觉 SIMULINK 智能机器人 

分 类 号：U463.33[机械工程—车辆工程]