| 移动机器人多传感器的实时动态测试与控制 |
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| 引用本文： | 戴娟,胡鹏. 移动机器人多传感器的实时动态测试与控制[J]. 河海大学常州分校学报, 2006, 20(2): 18-21 |
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| 作者姓名： | 戴娟 胡鹏 |
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| 作者单位： | 昆明理工大学,机电工程学院,云南,昆明,650093 |
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| 基金项目： | 昆明理工大学校科研和教改项目 |
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| 摘 要： | 在对移动机器人自动导航、障碍回避以及多传感器系统研究的基础上,设计了一种用于移动机器人自动导航的多传感器阵列实时动态测试分析与控制系统.系统利用数字信号处理器(DSP)的片内I/O端口和其他外围设置,简化外围电路设计,通过CAN总线完成超声数据与上位机通信,实现对多路超声传感器的实时动态监测和控制.试验运行表明系统可解决移动机器人的自动导航、停靠站等精确定位和避障的问题.
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| 关 键 词： | 移动机器人 多传感器阵列 动态测试 控制系统 |
| 文章编号： | 1009-1130(2006)02-0018-04 |
| 修稿时间： | 2005-10-10 |
A Real-time Dynamic Multi-sensor Measuring and Monitoring System of Mobile Robot |
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| DAI Juan,HU Peng. A Real-time Dynamic Multi-sensor Measuring and Monitoring System of Mobile Robot[J]. Journal of Hohai University Changzhou, 2006, 20(2): 18-21 |
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| Authors: | DAI Juan HU Peng |
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| Abstract: | Based on the study of the automatical navigation,obstacle avoidance and multi-sensor system of mobile robot,a real-time dynamic multi-sensor measuring and monitoring system of mobile robot is designed.It simplifies the outer circuit design by adopting the digital signal processor(DSP)and fulfills the real-time dynamic multi-sensor measuring and controlling by the supersonic data communication with the central computer through the bus of CAN.Tests show that the system can resolve the problems of mobile robot,such as the automatical navigation,accurate stopping and positioning,obstacle avoidance,etc. |
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| Keywords: | mobile robot multi-sensor dynamic measurement control system |
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