摘要
非结构化环境的移动机器人涉及多伺服电机驱动、多种传感器信息采集融合、通讯传输等问题,是一个非常复杂的系统。本文介绍一种基于CAN总线的、模块化结构的机器人控制系统,具有多种参数探测和感知功能,实现了机器人的半自主移动。采用的三段收放式机体结构及控制驱动系统,使得机器人具有较强的爬坡、越障等环境适应能力。
A mobile robot is a very complex system in an unstructured environment, which involves such technologies as multi-servo motor drive, multi-sensor information fusion and communications. A CAN bus based modular control system for a mobile robot is introduced, which works in a semi-autonomy mode and has the functionalities of parameters detection and perceptions. The robot has such abilities as better environmental adaptation and obstacles crossings because of the retractable three-segment structure.
出处
《山东科学》
CAS
2008年第1期61-65,共5页
Shandong Science
基金
山东省自主创新重大科技专项(2006GG1104014)
