开放式移动机器人嵌入式控制系统的设计与实现

作者：刘其峰，朱世强，刘松国，罗利佳 日期：2007-10-24/span> 浏览：3980 查看PDF文档

开放式移动机器人嵌入式控制系统的设计与实现

刘其峰，朱世强，刘松国，罗利佳
（浙江大学 机械电子控制工程研究所，浙江 杭州 310027）

摘要：为了解决封闭式移动机器人控制系统存在的诸多问题，提出并实现了一种基于32位嵌入式系统的开放式移动机器人控制系统。开放式控制器集成了友好的人机界面、两种无线通讯接口和多种串行接口，通过串口与本体控制器通讯。系统软件采用嵌入式μC/GUI、轻量级TCP/IP协议栈LwIP和实时多任务操作系统内核μC/OSII，以多任务和多任务通讯机制管理移动机器人各应用功能模块。讨论了命令控制台和无线通讯等开放式应用方法。将提出的控制系统应用于吸尘机器人平台，实验表明，该系统具有良好的开放性，为功能扩展、多机协调、远程控制和人机混合控制提供了解决方案。
关键词：移动机器人；控制系统；开放式；多任务
中图分类号：TP242文献标识码：A文章编号：1001-4551(2007)09-0056-04

Design and implementation of embedded open control system of mobile robot
LIU Qifeng, ZHU Shiqiang, LIU Songguo, LUO Lijia
（Institute of Mechatronic Control Engineering, Zhejiang University, Hangzhou 310027, China）
Abstract: In order to overcome the inherent problems existing in close control system of mobile robot, an open control system based on 32bits embedded system was designed and implemented. The open controller communicates with the mechanical controller through UART and integrates friendly user interface, two kinds of wireless communication methods and some serial ports. Embedded μC/GUI, light weight embedded TCP/IP protocol and μC/OSII, which possessed a good performance in real time and multitask, were applied in the system software. The application functions were designed based on the mechanism of multitask and multitaskcommunication. Open applications were discussed focusing on the console and wireless communications. Results of experiments on the autonomous cleaning robot indicate that, the proposed control system has a open performance, and provides a good platform for functions expanding, multirobot collaborating, remote control and manmachinebased hybrid control.
Key words: mobile robot; control system; open; multitask

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