摘要
针对自行研制的移动机器人(IMR01)设计并实现了一个分布式控制系统。IMR01采用激光雷达平台、多视觉系统作为环境感知器。利用2-D平面扫描的激光测距传感器,通过传感器平台俯仰与水平的转动实现在3-D环境感知,建立地形的高度图以分析可行区域与障碍区域。利用光纤陀螺仪、倾角仪及里程计等传感器构建移动机器人航向制导系统。控制系统基于多系统集成的低功耗工控机(IPC),在硬件上具有良好的扩展性能;通过无线网桥实现车载局域网与实验室监控系统的通讯。分布式控制系统通过异构Agent间的协作实现复杂环境下的感知与导航控制。
A distributed control architecture was designed and implemented for a mobile robot （IMR01）. Laser scanner and multi computer vision system were equipped to detect the environment. A 2-D laser rangefinder Lms291 was adopted to build terrain map through the pitch and horizontal rotation of a sensor platform. An elevation map of terrain was built and used for terrain analysis. A navigation guidance system is composed of fibre-gyro, tilt sensor and odometer. The control system comprises a multiple industrial personal computer （IPC） system with low power-consuming CPU, and has good hardware scalability. Communication between the on-board local network robot and the remote monitor system in laboratory is realized through wireless local area network. The navigation control is implemented with the cooperation among heterogeneous Agents.
出处
《中南大学学报（自然科学版）》
EI
CAS
CSCD
北大核心
2005年第5期727-732,共6页
Journal of Central South University:Science and Technology
基金
国家自然科学基金资助项目(60234030)
关键词
移动机器人
分布式控制
环境感知
异构智能体网络
mobile robot
distributed control
environmental perception
heterogeneous Agent
