摘要
以ATmage128单片机为核心,提出了一种移动机器人路径规划模糊控制系统的设计思路,并给出了控制系统硬件和软件设计方案。系统预先设定目标,移动机器人根据超声波传感器感知环境信息,采用模糊控制进行路径规划,机器人自主移动到达目标。硬件方面介绍了显示电路、超声波测距电路、电机驱动电路、无线通信电路等接口电路。软件方面给出了模糊控制、超声波测距和无线通信的软件设计方案。使用MATLAB软件进行了仿真,仿真结果表明模糊控制系统具有较理想的有效性和可行性。
The design of fuzzy control system for mobile robot path planning based on Atmega128 MCU was proposed, and the design scheme of the hardware and software was given. This system could set the planning route in advance. The mobile robot could know the environment with the help of ultrasonic sensor, and then arrived the design goal through fuzzy controller that is for the mobile robot path planning. The system interface for LCD, ultrasonic sensor, motor drive and wireless communication were discussed. Some design process of software such as the fuzzy controller, measuring distance from ultrasonic sensor and wireless communication were showed. This paper demonstrates the feasibility and rationality of fuzzy control system from the theoretical derivation and the results of MATLAB simulated experiment.
出处
《仪表技术与传感器》
CSCD
北大核心
2009年第12期70-72,共3页
Instrument Technique and Sensor
