一种基于无线局域网的多机器人控制平台的研究
摘要
多机器人系统的研究已经成为机器人学研究的一个重要方面,因为多机器人系统具有许多单机器人系统所没有的优点,如空间上的分布性、功能上的分布性、执行任务时的并行性、较强的容错能力、更低的经济成本等。
本论文以基于无线局域网的多机器人控制平台为核心。首先对多机器人系统进行了简要概述。然后着重介绍多机器人控制平台的搭建,主要从硬件、软件两个方面对基于无线局域网的多机器人控制平台进行了详细的阐述。
硬件部分介绍了基于ARM9的通用多机器人控制板和基于ATmega128的机器人车体控制器的研制。多机器人控制板实现了无线局域网的接入、现场图像采集、LCD触摸屏人机交互等功能。机器人车体控制器实现了直流电机的驱动及控制等功能。
软件部分介绍了基于UDP的无线局域网图像传输和基于TCP的控制命令传输。
Multi-robot systems research has become an important aspect of the robot study. The multi-robot system has many advantages that the single-robot system is unavailible,such as special and functional distribution,the parallelism of mandate execution,and the lower economic costs.
The wireless local area network based multi-robot control platform is the core of the term paper. Firstly, the auther make a brief overview of the multi-robot system.Secondly,the auther focus on building multi-robot control platform ,including the hardware design and software design.
In the hardware design part, the auter introduce the ARM9-based general-purpose multi-robot control panel and the ATmegal28-based motor controller. Multi-robot control panel completed the features above: wireless local area network access; on-site image acquisition; human-computer interaction. Motor controller completed the robot body contral.
In the software design part, the auter introduce the follow function:UDP-based wireless LAN image transmission; TCP-based transmission of control commands.
本论文以基于无线局域网的多机器人控制平台为核心。首先对多机器人系统进行了简要概述。然后着重介绍多机器人控制平台的搭建,主要从硬件、软件两个方面对基于无线局域网的多机器人控制平台进行了详细的阐述。
硬件部分介绍了基于ARM9的通用多机器人控制板和基于ATmega128的机器人车体控制器的研制。多机器人控制板实现了无线局域网的接入、现场图像采集、LCD触摸屏人机交互等功能。机器人车体控制器实现了直流电机的驱动及控制等功能。
软件部分介绍了基于UDP的无线局域网图像传输和基于TCP的控制命令传输。
Multi-robot systems research has become an important aspect of the robot study. The multi-robot system has many advantages that the single-robot system is unavailible,such as special and functional distribution,the parallelism of mandate execution,and the lower economic costs.
The wireless local area network based multi-robot control platform is the core of the term paper. Firstly, the auther make a brief overview of the multi-robot system.Secondly,the auther focus on building multi-robot control platform ,including the hardware design and software design.
In the hardware design part, the auter introduce the ARM9-based general-purpose multi-robot control panel and the ATmegal28-based motor controller. Multi-robot control panel completed the features above: wireless local area network access; on-site image acquisition; human-computer interaction. Motor controller completed the robot body contral.
In the software design part, the auter introduce the follow function:UDP-based wireless LAN image transmission; TCP-based transmission of control commands.
引文
[1]http://www.cs.ualberta.ca/～kube/reserach.html
[2]http://www-robotics.usc.edu/～barry/NerdHerd.html
[3]Ueyama T,Fukuda T.Self-organization of cellular robots using random walk with simple rules.Proceedings of IEEE ICRA,1993:595-600
[4]An-hui Cai,Toshio Fukuda,Fumihito Arai,et al.Hierarchical control architecture for cellular robotic system-simulation and experiments.IEEE International Conf.on Robotics and Automation,1995,1191-1196
[5]Toshio Fukuda,Yoshio Kawauchi,Fumio Hara.Dynamic distributed knowledge system in self-organizing robotic system:CEBOT.Proc.of IEEE International Conf.on Robotics and Automation,Sacramento,California,1991,1908-1913
[6]Fukuda T,Kawauchi Y,Asama H.Analysis and evaluation of cellular robotics (CEBOT) as a distributed intelligent system by communication information amount.Proceedings of IEEE/RSJ IROS,1990,827-834
[7]黄闪,蔡鹤皋,谈大龙.面向装配作业的多机器人合作协调系统。机器人,1999,21(1):50-56
[8]王越超,谈大龙,黄闪等.一个多智能体机器人协作装配系统。高技术通讯,1998,(7):6-10
[9]李实,徐旭明,叶榛等.国际机器人足球比赛及相关技术.机器人,2000,22(5):420-426
[10]Cao Y U,Fukunaga A S,Kahng A B,Cooperative mobile robotics:antecedents and directions.Autonomous Robots,1997,4(1):7-27
[11]王越超。多机器人协作系统研究:[学位论文].哈尔滨:哈尔滨工业大学,1999
[12]Kimbedy Sharman Evans,Cem Unsal,John S Bey.A reactive coordination scheme for a many-robot system.IEEE Trans.on Systems,Man and Cybernetics,1997,27(4):598-610
[13]Poj Tangamchit,John M Dolan,Pardeep K Kholsa.The necessity of average rewards in cooperative multirobot learning.Proceeding of the 2002 IEEE International Conference on Robotics & Automation,2002,1296-1301
[14]谭民.机器人群体协调与控制的研究.自动控制领域发展战略研讨会论文集,1999,185-190
[15]赵忆文.移动机器人体系结构及多机器人协调规划研究:[学位论文].沈 阳:中科院沈阳自动化研究所,2000
[16]Rodney A Brooks.A robust layered control system for a mobile robot.IEEE Journal of Robotics and Automation,19
[17]Arkin R C.Motor schema-based mobile robot navigation.The International Journal of Robotics Research,1989,8(4):92-112
[18]Saridis G.Toward the realization of intelligent controls.Proceedings of the IEEE,1979,67(8):1115-1133
[19]Lm2576.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/8733/NSC/LM2576.html
[20]Lm117.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/8600/NSC/LM117.html
[21]MAX8860.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/73838/MAXIM/MAX8860.ht ml
[22]S3C2440.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/83787/SAMSUNG/S3C2440.h tml
[23]K4S561632C.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/244131/SAMSUNG/K4S561632C.html
[24]Am29LV160D.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/55490/AMD/AM29LV160D.h tml
[25]K9F1208U.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/37110/SAMSUNG/DS_K9F1208U0M.html
[26]NL2432HC32.pdf
[27]LQ035QTDH01.pdf http://www.21icsearch.com/so.asp?stype=pdf&t1=LQ035Q7DH01&keyword =LQ035QTDH01
[28]MAX232.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/73047/MAXIM/MAX232.htm l
[29]CS8900A.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/82402/CIRRUS/CS8900A.htm l
[30]LM350T.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/53584/FAIRCHILD/LM350T.html
[31]http://www.mornsun-power.com
[32]Atmega128L.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/174746/ATMEL/ATMEGA128L-8AC.html
[33]ADUM1201.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/85927/AD/ADUM1201.html
[34]TLP521-4.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/32437/TOSHIBA/TLP521-4.h tml
[35]cd40106.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/8165/NSC/CD40106.html
[36]何宗键.Windows CE嵌入式系统.北京.北京航空航天大学出社,2006.
[37]Cisco-Linksys WRH54G说明书
[38]谢希仁.计算机网络(第四版).北京.电子工业出版社,2003.
[39]朱秀昌.图像通讯应用系统.北京.北京邮电大学出版社,2003.
[40]ZC030X SDK接口函数说明.doc
[2]http://www-robotics.usc.edu/～barry/NerdHerd.html
[3]Ueyama T,Fukuda T.Self-organization of cellular robots using random walk with simple rules.Proceedings of IEEE ICRA,1993:595-600
[4]An-hui Cai,Toshio Fukuda,Fumihito Arai,et al.Hierarchical control architecture for cellular robotic system-simulation and experiments.IEEE International Conf.on Robotics and Automation,1995,1191-1196
[5]Toshio Fukuda,Yoshio Kawauchi,Fumio Hara.Dynamic distributed knowledge system in self-organizing robotic system:CEBOT.Proc.of IEEE International Conf.on Robotics and Automation,Sacramento,California,1991,1908-1913
[6]Fukuda T,Kawauchi Y,Asama H.Analysis and evaluation of cellular robotics (CEBOT) as a distributed intelligent system by communication information amount.Proceedings of IEEE/RSJ IROS,1990,827-834
[7]黄闪,蔡鹤皋,谈大龙.面向装配作业的多机器人合作协调系统。机器人,1999,21(1):50-56
[8]王越超,谈大龙,黄闪等.一个多智能体机器人协作装配系统。高技术通讯,1998,(7):6-10
[9]李实,徐旭明,叶榛等.国际机器人足球比赛及相关技术.机器人,2000,22(5):420-426
[10]Cao Y U,Fukunaga A S,Kahng A B,Cooperative mobile robotics:antecedents and directions.Autonomous Robots,1997,4(1):7-27
[11]王越超。多机器人协作系统研究:[学位论文].哈尔滨:哈尔滨工业大学,1999
[12]Kimbedy Sharman Evans,Cem Unsal,John S Bey.A reactive coordination scheme for a many-robot system.IEEE Trans.on Systems,Man and Cybernetics,1997,27(4):598-610
[13]Poj Tangamchit,John M Dolan,Pardeep K Kholsa.The necessity of average rewards in cooperative multirobot learning.Proceeding of the 2002 IEEE International Conference on Robotics & Automation,2002,1296-1301
[14]谭民.机器人群体协调与控制的研究.自动控制领域发展战略研讨会论文集,1999,185-190
[15]赵忆文.移动机器人体系结构及多机器人协调规划研究:[学位论文].沈 阳:中科院沈阳自动化研究所,2000
[16]Rodney A Brooks.A robust layered control system for a mobile robot.IEEE Journal of Robotics and Automation,19
[17]Arkin R C.Motor schema-based mobile robot navigation.The International Journal of Robotics Research,1989,8(4):92-112
[18]Saridis G.Toward the realization of intelligent controls.Proceedings of the IEEE,1979,67(8):1115-1133
[19]Lm2576.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/8733/NSC/LM2576.html
[20]Lm117.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/8600/NSC/LM117.html
[21]MAX8860.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/73838/MAXIM/MAX8860.ht ml
[22]S3C2440.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/83787/SAMSUNG/S3C2440.h tml
[23]K4S561632C.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/244131/SAMSUNG/K4S561632C.html
[24]Am29LV160D.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/55490/AMD/AM29LV160D.h tml
[25]K9F1208U.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/37110/SAMSUNG/DS_K9F1208U0M.html
[26]NL2432HC32.pdf
[27]LQ035QTDH01.pdf http://www.21icsearch.com/so.asp?stype=pdf&t1=LQ035Q7DH01&keyword =LQ035QTDH01
[28]MAX232.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/73047/MAXIM/MAX232.htm l
[29]CS8900A.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/82402/CIRRUS/CS8900A.htm l
[30]LM350T.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/53584/FAIRCHILD/LM350T.html
[31]http://www.mornsun-power.com
[32]Atmega128L.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/174746/ATMEL/ATMEGA128L-8AC.html
[33]ADUM1201.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/85927/AD/ADUM1201.html
[34]TLP521-4.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/32437/TOSHIBA/TLP521-4.h tml
[35]cd40106.pdf http://www.alldatasheet.com/datasheet-pdf/pdf/8165/NSC/CD40106.html
[36]何宗键.Windows CE嵌入式系统.北京.北京航空航天大学出社,2006.
[37]Cisco-Linksys WRH54G说明书
[38]谢希仁.计算机网络(第四版).北京.电子工业出版社,2003.
[39]朱秀昌.图像通讯应用系统.北京.北京邮电大学出版社,2003.
[40]ZC030X SDK接口函数说明.doc