摘要
设计了基于S3C2410+Linux平台的移动机器人超声波避障系统。介绍了SRF05新型高精度传感器的工作原理、测距系统多路超声波传感器的软硬件实现及机器人平台的整个软件工作流程。Linux系统超声波驱动模块中采用的轮循工作方式实现了机器人在未知环境下的避障功能,机器人平台运行效果良好。
This paper designed the system of unknown environment obstacle avoidance and navigation for wheeled mobile robot based on S3C2410 and embedded Linux system. This paper focuses on the high precision ultrasonic sensor principle, the realization of measuring system software and hardware and the software flow of mobile robot. Multi-ultrasonic measuring system is realized by circulation in embedded Linux system driver modules. This paper implements robotic monitoring and obstacle avoidance in uncertain circumstance with driver procedures and robotic platform system is to motion perfectly in uncertain circumstance.
基金
山东省教育厅科技计划项目(JO7WJ29)
关键词
机器人
ARM9
超声波
导航
避障
robot
ARM9
ultrasonic
navigation
obstacle avoidance
