摘要
山地机器人的运行环境复杂,对控制系统提出实时性、多任务和交互性等要求。为解决其控制问题,设计了嵌入式山地机器人控制系统。首先提出以WIFI通信和CAN通信为基础的三级控制系统方案;其次设计ARM11主控模块和多节点控制器协调控制的嵌入式硬件体系;最后采用嵌入式Linux操作系统作为ARM11的软件开发平台,并在此平台上用Qt Creator设计人机交互软件,采用增量式PID算法对节点中心电机进行调速控制以及运用遗传算法对机器人的自主避障路径进行规划。测试机器人的硬软件功能;比较规划路径和实际行走路径,结果表明所设计的控制系统精确性高,实时性强,并且该系统人机交互界面友好,运行可靠,能满足山地机器人的控制要求。
Considering the working environment of mountain robot is complicated, the control system should meet the requirements of real-time multitasking and interactivity, etc. Aiming at solving the control problems, embedded mountain robot control system is designed. Firstly, a three-level control system scheme based on the WIFI communication and CAN communication is proposed. Secondly, the embedded hardware system of coordination control is designed, which are composed of ARMll master control module and multiple node controller. Finally, embedded Linux operating system is adopted as a software development platform for ARMll and Interactive software is designed by Qt Creator on the platform. Meanwhile, incremental PID algorithm is applied to the speed control of center motor and through genetic algorithms the autonomous robot obstacle avoidance path is planned. The hardware and software functionality of robot has been tested; the path of the robot autonomous obstacle avoidance has been compared with the actual walking paths, and the results show that the designed control system has the high accuracy and hard real time. The system with friendly interactive interface is reliable and able to meet the control requirements of mountain robot.
出处
《机械设计与制造》
北大核心
2014年第12期212-216,共5页
Machinery Design & Manufacture
关键词
机器人
遗传算法
Robot
Linux
ARM
PID
Genetic Algorithm
