分层式移动平台运动控制系统设计

为达到移动机器人可以实现对特殊环境进行高速、高精度稳定可靠的运行目标,基于分层式模式的移动机器人运动控制系统能够充分运用PC端,文章制定了PC+STM32的分层式移动控制机器人的总体设计方案,并完成了该运动控制系统的车体位姿求解算法。此外,文章完成了分层式人机界面操作系统设计,对样机进行了实验系统搭建,为移动、监控、自动化工厂等提供平台。就智能移动机器人系统控制的姿态求解进行实验测试,实验结果表明:所研制的远程操作车体具有控制系统可靠稳定、响应迅速、定位准确的特点。

In order to achieve the goal of high speed, high precision, stability and reliability, the mobile robot can operate inspecial environment. The motion control system of mobile robot based on hierarchical mode can make full use of PC. In this paper,the overall design scheme of the hierarchical mobile control robot based on PC＋STM32 is worked out, and the algorithm for solvingthe vehicle posture of the motion control system is completed. In addition, the paper completes the design of the layered man-machine interface operating system. The experimental system of the prototype is built, which provides a platform for mobile, monitoring,automation factory and so on. The attitude solution of intelligent mobile robot system is tested experimentally. The experimental resultsshow that the control system is reliable and stable, the response is rapid and the positioning is accurate.