| ATmega16与PC机的移动机器人定位系统研究 |
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| 引用本文： | 张磊,蒋刚,肖志峰,叶登金.ATmega16与PC机的移动机器人定位系统研究[J].单片机与嵌入式系统应用,2010(12):11-13. |
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| 作者姓名： | 张磊 蒋刚 肖志峰 叶登金 |
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| 作者单位： | 西南科技大学制造科学与工程学院,绵阳621010 |
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| 基金项目： | 西南科技大学研究生创新基金资助 |
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| 摘 要： | 为提高移动机器人定位系统的可靠性，设计了组合使用光纤陀螺仪、光电码盘和超声波传感器的定位系统，系统采用CAN总线的数据传输方式。ATmega16采集各传感器数据，再以CAN总线方式传输给PC机；PC机平台综合处理光纤陀螺、光电码盘与超声波返回的数据，实现移动机器人定位。定位算法以航迹推算为主，超声波传感器起辅助定位作用。实验表明定位系统可靠有效。
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| 关 键 词： | AVR单片机 ATmega16 CAN总线 机器人定位 |
Research on Localization System for Mobile Robot Based on ATmega 16 and PC |
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| Zhang Lei,Jiang Gang,Xiao Zhifeng,Ye Dengjin.Research on Localization System for Mobile Robot Based on ATmega 16 and PC[J].Microcontrollers & Embedded Systems,2010(12):11-13. |
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| Authors: | Zhang Lei Jiang Gang Xiao Zhifeng Ye Dengjin |
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| Affiliation: | (School of Manufacturing Science and Engineering, Southwest University of Science and Technology, Mianyang 621010, China) |
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| Abstract: | To improve the reliability of mobile robot localization system, the positioning system based on fiber optic gyroscope, photoelectric encoder and ultrasonic sensor is presented. Data transmission mode based on CAN communication is used for mobile robot localization system. Data is sent to PC after collected from sensors by ATmega16. Sensor data is processed on PC platform and robot localization is realized. Dead reckoning plays a major role, and ultrasonic sensor is used to eliminate localization errors. Experiment shows that the localization system is reliable and effective. |
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| Keywords: | AVR MCU ATmega16 CAN bus robot localization |
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