摘要
针对现有集群机器人产品中存在的软硬件配置难度大、需要的场地庞大、价格昂贵等问题,根据多机器人系统的使用场景和技术特点,设计出一款桌面级群控机器人系统。机器人采用乐鑫ESP32芯片作为主控制器,具有移动、方位感知与LED矩阵显示等功能。借助外部的摄像头、上位机和路由器,实现了对数十台机器人的厘米级定位和低延迟通信,适用于多机器人研究中各类控制算法的快速部署,具备易用、便携、低成本的优势。
Aiming at the problems of difficult software and hardware configuration,high space requirement,and high price in existing multi-robot products,this paper proposes a desktop multi-robot system according to the usage scenarios and technical characteristics of multi-robot systems.The robot uses Espressif ESP32 SOC as the main controller,and has functions such as movement,orientation awareness and LED-Matrix display.With the help of the external camera,the host computer and the router,the system can achieve centimeter-level positioning and low-latency communication for dozens of robots.The system can be used for the rapid deployment of various control algorithms in multi-robot research,and has the advantages of ease of use,portability,and low cost.
作者
梁帅
朱松毅
周涵巍
石尚
黄梅涛
张执南
LIANG Shuai;ZHU Songyi;ZHOU Hanwei;SHI Shang;HUANG Meitao;ZHANG Zhinan(School of Mechanical Engineering,Shanghai Jiao Tong University,Shanghai,200240,China;School of Aeronautics and Astronautics,Shanghai Jiao Tong University,Shanghai,200240,China;School of Electronic Information and Electrical Engineering,Shanghai Jiao Tong University,Shanghai,200240,China)
出处
《机械设计与研究》
CSCD
北大核心
2023年第3期16-20,共5页
Machine Design And Research
