一种履带式行走机器人的仿人智能控制系统

A human simulating intelligent control system of the caterpillar track robot

本文介绍一种参加首届全国大学生机器人电视大赛的履带式行走机器人仿人智能控制系统。首先通过对机器人跟踪直线数学模型的建立 ,得出该系统是一个多输入多输出非线性系统 ,且变量间相互耦合 ,用传统控制方法难以解决。根据仿人智能控制的基本思想 ,建立了单片机控制硬件平台 ,提出了机器人跟踪直线、转弯、准确定位和路线规划的仿人智能控制算法。在此基础上编制了控制软件 ,通过调试 ,整定了控制参数 ,经过试验和参赛的考验 ,证明该系统简单、实用、可靠。

In this paper a HSIC(Human Simulating Intelligent Control)system of the caterpillar track robot used in the First China University Robotcon is presented.First,from the mathematic model of the robot moving along a white track line,it can be seen that th system is a multi-input and multi-output non-linear system with coupling variants and it is difficult to solve the problem in conventional control method.And then,the hardware designed according to the thought of HSIC is formed.On the basis,the control alogrithms tracking a line,turning,positioning accurately,planning a routine are given and the software of the system is developed.The system is proven to be simple,practical and reliable.