基于S3C2410的移动机器人运动控制系统

作者：苏绍兴,程向娇 日期：2010-06-28/span> 浏览：4154 查看PDF文档

基于S3C2410的移动机器人运动控制系统
苏绍兴,程向娇
（温州职业技术学院 电气电子系，浙江 温州 325035）

摘要：移动机器人是人工智能领域与机器人领域的基础研究课题之一,其中机器人运动控制子系统是最终执行机构，是整个系统的优劣的直观体现。针对目前采用的8位或者16位单片机存在着硬件资源有限、运算和处理速度慢等问题，提出了一种基于S3C2410的嵌入式的移动机器人运动控制系统,该控制系统主要由S3C2410处理器、运动控制芯片LM629及电机驱动L298N 芯片构成, 研究结果表明该系统具有动态性能好、启动速度快、运行稳定性强等特点。
关键词：S3C2410;机器人;比例-积分-微分
中图分类号：TH13；TP391文献标识码：A文章编号：1001-4551(2010)06-0055-04

Mobile robot motion control system based on S3C2410

SU Shao-xing1, CHEN Xiang-jiao2
(Department of Electrical & Electronic Engineering, Wenzhou Vocational & Technical College, Wenzhou 325035, China)

Abstract: Mobile robot is the basic research topics in the field of artificial intelligence and robotics, robot motion control subsystem is the ultimate implementing agency. Aiming at the current 8-bit or 16-bit microcontroller, there is limited hardware resources, computing and processing speed slow and so on. A S3C2410-based embedded mobile robot motion control system has been proposed, which mainly consists of S3C2410 processor, motion control L298N chip and motor driver LM629 chip composition. The results indicate that the system has good dynamic performance and strong features of the operation stability.
Key words: S3C2410; robot; proportional-integral-derivative(PID)