摘要
介绍了新型超声波传感器的工作原理、测距系统的软硬件实现,及机器人平台整个软件工作流程。利用软件方法解决了S3C2410中不利于检测回波的问题,完成了基于ARM9与嵌入式Linux系统的移动机器人平台下未知环境的避障导航系统的设计。提出在Linux驱动程序模块中利用轮循方法实现多路超声波的测距,并结合开发的超声波驱动程序完成了机器人在未知环境下的导航避障功能,非结构环境下机器人平台运行效果良好。
Focuses on the ultrasonic sensor principle, the realization of measuring system software and hardware and the software flow of mobile robot. The problem of detecting ultrasonic echo is settled by means of software under S3C2410 microprocessor system. Develops the system of unknown environment obstacle avoidance and navigation for wheeled mobile robot based on ARM9 and embedded Linux system. Multi - ultrasonic measuring system is realized by circulation in embedded Linux system driver modules. Implements robotic monitoring and obstacle avoidance in uncertain circumstance with driver procedures and robotic platform system is to motion perfectly in uncertain circumstance.
出处
《计算机技术与发展》
2009年第6期29-31,35,共4页
Computer Technology and Development
基金
山东省教育科技计划项目(J07WJ29)
