智能轮式移动机器人嵌入式控制系统设计

为了优化智能轮式移动机器人的控制系统,提出了一种基于ARM微处理器和复杂可编程逻辑器件(CPLD)的嵌入式控制系统.硬件部分采用以ARM和CPLD为核心的模块化设计,软件部分采用实时操作系统μC/OS-Ⅱ,并设计了电机速度调节的控制算法.实现了对机器人驱动电机、超声传感等任务模块的系统控制.仿真和运行实验结果表明,系统运行稳定,控制灵活,达到预期的设计目标.     

轮式移动机器人运动控制系统研究与设计

基于差速转向原理,设计了一套轮式移动机器人的运动控制系统。首先选择小车的模型(运动模型),进行运动学和力学分析,得出左右两侧车轮的速度约束,然后设计机器人的运动控制模块和无线遥控模块。运动控制模块可分为控制电路和驱动电路两大模块,控制电路以DSP作为核心控制部件,捕获编码器的信息并产生PWM信号;驱动电路以直流电机H桥集成芯片为驱动部件,接收来自DSP的控制信号。无线遥控模块选用AVR单片机作为控制核心,实现A/D转换和指令发送等功能。实验证明,该系统不仅能实现较长距离的无线控制,传输可靠,而且速度控制准确,车体运动灵活。     

基于ADT850的移动机器人运动控制系统设计

主要介绍了一种移动机器人的运动控制系统硬、软件结构。控制系统是由工业PC,ADT850运动控制卡及相关传感器组成;操作系统采用Windows98系统,采用VisualC 6.0开发,并应用模块化及Windows线程的多任务处理机制实现控制程序设计;根据状态反馈控制理论,设计了移动机器人路径跟踪控制算法。实验论证了此控制系统及控制算法的有效性。     

轮式机器人控制系统设计

设计了一套基于直流电机的轮式机器人大功率驱动控制系统。本系统采用双H桥结构驱动两个电机,并以AVR单片机Atmega168为处理器实现电机控制。通过单片机定时器的快速PWM(脉宽调制)模式输出不同占空比的PWM信号,送给H桥,从而控制电机的转速。本系统以DXP2004为平台设计了电路原理图和大功率PCB(印刷电路板),并使用AVR Studio和WinAVR工具配合开发单片机程序,电路实测达到10 A以上驱动电流。     

基于SIP的移动学习系统的研究与设计

通过对SIP协议消息和SIP移动性的分析,结合移动学习的具体情况,提出了一种基于SIP的移动学习系统,并对该系统的结构和各个组成部分进行了描述,介绍了每个模块的功能实现.     

智能控制及移动机器人研究中的问题分析

当今社会高科技发展迅速,智能化广泛地应用于生活,给生活带来便利的同时,也面临着巨大的挑战.在此局面下,最为关键的就是如何抓准时机,将自动控制智能化技术加以完善.目前正在研究的未知环境下移动机器人导航控制研究课题阐述了智能移动机器人的研究进展,其中包括移动机器人控制系统的结构、环境建模、路径规划以及故障诊断等.相关研究人...     

Client-server-based mobile robot control

A control architecture for an autonomous mobile robot usually consists of two components: (1) intelligent control software and (2) an operating system for resource access. From the point of view of a computer scientist, it is desirable to achieve a certain level abstraction from the resource (be it sensor or effector). Here, this is achieved by introducing a client-server framework for realizing abstract resource access and intelligent control. Hardware details are hidden in a middleware layer, which is inserted in between operating system and applications. In this paper, we present the most important features of our client-server approach. The servers decouple hardware and software dependencies. Communication is realized through the use of classes, offering a wide variety of client-server interaction. Event-driven servers and clients lead to quick responses in dynamic environments. Our approach gives reusability, portability, testability, and maintainability through data abstraction. It was successfully applied in our experimental platform ARS     

Hardware design and distributed embedded control architecture of a mobile soccer robot

Designing robust, modular and fast mobile robots, operating in high dynamic environments is a challenging task. This includes design of the mechanics and the control system of the robot. This paper presents the modular hardware design of a mobile soccer robot platform, including the mechanics, electronic system and the low-level distributed control architecture of the robot. The basic idea behind this paper is not to introduce a new distributed control architecture, both at low and high levels of control, but to focus on a novel approach to manage the distributed control system of a single robot, consisting of a number of microcontroller based modules connected together through a data bus.     

一种智能家居手机app控制系统的设计及实际应用探索

智能家居的手机app控制系统逐渐发展,得到了极其广泛的应用,一方面是由室内环境监测感应器、摄像头及GPS模块等构成的室内电路控制,另一方面则是将手机作为可视屏,通过手机app展开顺利移动,进而利用远程终端来实行有效控制.     

A position control differential drive wheeled mobile robot

For more accurate path tracking of a four-wheeled two-degrees-of-freedom mobile robot (WMR), a position control algorithm is proposed with two separated feedback loops, a velocity feedback loop and a position feedback loop. In the most conventional position control system of a WMR, internal error is mainly considered, while external error has, as yet, hardly been treated, although it plays an important role in accurate position control. This external error is caused by unexpected environmental situations. The proposed control algorithm is designed to compensate for both internal error and external error. This algorithm makes it possible to accurately follow the designed trajectory