Design and implementation of information acquisition system architecture for multi-sensor robots |
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Authors: | Chen Guoliang Huang Xinhan Wang Min |
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Institution: | 1. School of Mechantronic Engineering, Wuhan University of Technology, Wuhan 430070, P.R.China 2. Department of Control Science and Engineering, Huazhong University of Science and Technology, Wuhan 4313074, P.R.China |
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Abstract: | A multi-layer controller architecture based on digital signal processor(DSP)and on-chip MCU was proposed for multi-sensor information acquisition system;it consisted of a data acquisition unit and a data fusion unit,and used a host controller to connect the two units into all integrated system.Compared with architectures of traditional acquisition system,this architecture had good openness and goad adaptability of algorithms in hardware.To validate its feasibility,a small-scale prototype was cleverly designed,which adopted ADuC812.tMS320F206 and 89C51 as controllers,and had 16-channel ADC and 12-channel DAC with high accuracy of 12-bit.The Interfaces between different controllers were introduced in detail.Some basic parameters of the prototype were presented by board-level tests and by comparison with other two systems.The prototype Was employed to provide on-line state measurement,parameter estimation and decision-making for trajectory tracking of wheeled mobile robot.Experimental results show that the prototype achieves the goals of data acquisition,fusion and control perfectly. |
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Keywords: | information acquisition system architecture multi-sensor mobile robot |
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