摘要
为克服传统移动机器人控制系统的性能与功耗的矛盾,提出了一种高性能、低功耗的嵌入式控制系统。该系统以微处理器ARM9作为上位机处理器,配上基于数字信号处理器（DSP）、现场可编程门阵列（（FPGA）的视觉模块、传感器模块和伺服模块,构成一种主从分布式、多CPU的控制系统,实现了基于实时Linux的机器人控制软件体系结构。整个系统具有处理能力强,实时性高,稳定性好等特点。通过对比实验证实,该移动机器人控制系统真正具有高性能、低功耗以及软件实时性高等优点。
This paper puts forward an embedded control system with higher capability and lower power consumption for mobile robots to overcome the confliction between capability and power-consumption of mobile robot control systems. The systematic structure of this distributed multi-CPU control system comprised the advanced RISC machine （ARM 9）, the digital signal processor （DSP） and the field programmable gate array （FPGA）. It is meanwhile recommended in the paper a realization method of the robot control software architecture based on real-time Linux. The result of contrast experiment demonstrates that the mobile robot control system can provide a great number of advantages, such as higher capability, lower power consumption and real-time software.
出处
《高技术通讯》
CAS
CSCD
北大核心
2007年第6期595-599,共5页
Chinese High Technology Letters
基金
863计划（2005AA420290）资助项目.
关键词
嵌入式系统
分布式系统
低功耗
实时LINUX
embedded system, distributed system, low power-consumption, real-time Linux
