智能轮式移动机器人的控制系统设计
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摘要
本课题设计的移动机器人主要是以运动控制的物理机械设计为主,是机器人研究领域的一个附属研究方向,应用于工业、农业等各行各业,是一个国内外都关注的且广泛应用的研究热点。本文的设计在国内外关于移动机器人设计的基础上,着重分析了轮式移动机器人运动控制的物理和机械运动原理和发展状况,研究并设计了两轮驱动的移动机器人,力图使移动机器人达到小型化、智能化、精确化。
本系统的设计在硬件控制方面,根据机械运动的原理,分析了移动机器人的运动行为理论。以AVR系列单片机ATmega8为主要的微控制芯片,主要的工作是对ATmega8的外围功能电路的设计与各个功能模块的实现。主要的功能为:避障功能的实现,本课题并没有植入简单的碰撞传感器模块,而是实现了远距离的超声波检测模块和近距离的红外线检测模块;在结合了L298N驱动芯片,实现了步进电机BS42HB33-01对于后两轮的驱动运动,能够按照各个功能模块的要求,完成机器人的各项动作;加入了语音识别功能模块,能够实现人机对话的交互行为;串口温度测试模块则实现了在环境温度大范围的变化时,移动机器人能够自主的躲避该环境;对于不同模块中电源的提供,本课题专门设计了电源模块,以方便系统的功能实现和调试工作。
在软件方面,本课题设计结合了UML软件设计思想,实现了组件化的软硬件协同设计理念。并且软件的设计遵循了层次设计结构,共分为:数据采集层、底层功能驱动层、数据处理层、功能应用层等四层结构。
整个移动机器人控制系统有着体积小、功能强大、可裁剪性强、便捷等特点。在最后的调试运行中,较好的完成了预定的任务。
The mobile robot designed in this project, mainly focused on motion control which is a part of physical and mechanical design, is the next object in robot research. Its wild application raises worldly attention and will be applied in various industries. The design in this thesis emphasizes on the physical and mechanical theory and development on the motion control of wheeled mobile robot. The double wheeled mobile robot is on the basis of the previous design at home and abroad, researched and designed in order to make the mobile robot miniaturization, intelligent, and refinement.
In respect of hardware control, this design analyzes the motion theory of mobile robot in light of mechanical motion principle. The micro controlling integrates circuit, mainly with ATmega8 of AVR series single chip, is used to enforce the function peripheral circuit of ATmega8 and each functional module. Its principal functions are various: the realization of barrier-avoiding capability, which is under the help of remote UML module and short-range infrared thermograph inspection; the realization of drive for the rear wheels by BS42HB33-01 with the combination of L298N driving chip, to meet the requirements of each functional module and motions; the speech reorganization module, which facilitates man-machine conversation; serial port temperature test module, which helps the mobile robots avoid the environment in case of large-range fluctuation rises; the power supply module, which facilitates the realization and debugging of system functions.
As to software, the project, combining the design of UML, brings about the idea of unit-design of software and hardware. The layer structures in this design are divided as data-collection layer, low-level drive layer, data-process layer, and function application layer.
The mobile robot control system is featured by small size, powerful functions, flexible cutting, and convenience. In the final debugging, the system completed the preset task in a satisfied way.
本系统的设计在硬件控制方面,根据机械运动的原理,分析了移动机器人的运动行为理论。以AVR系列单片机ATmega8为主要的微控制芯片,主要的工作是对ATmega8的外围功能电路的设计与各个功能模块的实现。主要的功能为:避障功能的实现,本课题并没有植入简单的碰撞传感器模块,而是实现了远距离的超声波检测模块和近距离的红外线检测模块;在结合了L298N驱动芯片,实现了步进电机BS42HB33-01对于后两轮的驱动运动,能够按照各个功能模块的要求,完成机器人的各项动作;加入了语音识别功能模块,能够实现人机对话的交互行为;串口温度测试模块则实现了在环境温度大范围的变化时,移动机器人能够自主的躲避该环境;对于不同模块中电源的提供,本课题专门设计了电源模块,以方便系统的功能实现和调试工作。
在软件方面,本课题设计结合了UML软件设计思想,实现了组件化的软硬件协同设计理念。并且软件的设计遵循了层次设计结构,共分为:数据采集层、底层功能驱动层、数据处理层、功能应用层等四层结构。
整个移动机器人控制系统有着体积小、功能强大、可裁剪性强、便捷等特点。在最后的调试运行中,较好的完成了预定的任务。
The mobile robot designed in this project, mainly focused on motion control which is a part of physical and mechanical design, is the next object in robot research. Its wild application raises worldly attention and will be applied in various industries. The design in this thesis emphasizes on the physical and mechanical theory and development on the motion control of wheeled mobile robot. The double wheeled mobile robot is on the basis of the previous design at home and abroad, researched and designed in order to make the mobile robot miniaturization, intelligent, and refinement.
In respect of hardware control, this design analyzes the motion theory of mobile robot in light of mechanical motion principle. The micro controlling integrates circuit, mainly with ATmega8 of AVR series single chip, is used to enforce the function peripheral circuit of ATmega8 and each functional module. Its principal functions are various: the realization of barrier-avoiding capability, which is under the help of remote UML module and short-range infrared thermograph inspection; the realization of drive for the rear wheels by BS42HB33-01 with the combination of L298N driving chip, to meet the requirements of each functional module and motions; the speech reorganization module, which facilitates man-machine conversation; serial port temperature test module, which helps the mobile robots avoid the environment in case of large-range fluctuation rises; the power supply module, which facilitates the realization and debugging of system functions.
As to software, the project, combining the design of UML, brings about the idea of unit-design of software and hardware. The layer structures in this design are divided as data-collection layer, low-level drive layer, data-process layer, and function application layer.
The mobile robot control system is featured by small size, powerful functions, flexible cutting, and convenience. In the final debugging, the system completed the preset task in a satisfied way.
引文
[1]李朝青.单片机原来及接口技术.北京:北京航空航天大学出版社,1998.
[2] N Nilsson .An application of artificial intelligence techniques .In Proc IJCAI,1996.
[3] Groen F,Spaan M,Vlassis N.Robot soccer: game or science.http://ww.robocup.org.
[4]徐国华,谭民.移动机器人的发展现状及其趋势.机器人技术与应用,2001,3:7-14.
[5]张炜.从日本机器人技术的现状看机器人技术产业化发展.机器人技术与应用,vol.03,2006.
[6] Roland Siegwart,Illah R.Nourbakhsh,自主移动机器人导论(李人厚译).西安:西安交通大学出版社,2006,31-250.
[7]孙增析.智能控制理论与技术.清华大学出版社,1997.
[8]伍谨斐.移动机器人的路径跟踪控制:(硕士学位论文).四川:电子科技大学, 2007.
[9]李磊,叶涛,谭民.移动机器人技术研究现状及未来机器人.机器人. 2002.24(5): 474-480.
[10]谢存禧,张铁.机器人技术及应用.北京:机械工业出版社,2005.
[11] R.C.Arkin.Behavior-Based Robotics.Cambridge,MA:MIT Press,1998:124-125
[12] Kingman,D.J.etal.A Mobile Robot:Snoring, Planning and Locomotion.Proc.IEEEC on f. Robotics and Automation.1987:402-408
[13]冯华山.远程机器人控制系统.西安:西北工业大学出版社,2004.
[14]黄永志,陈卫东.两轮移动机器人运动控制系统的设计与实现.机器人,vol.1 2004:40-45.
[15]张云生.实时控制系统软件设计原理及应用.北京:国防大学出版社,1998.
[16]张铁、谢存禧.机器人学.广州:华南理工大学出版社2002.
[17]宋秩群、杜华生、王德新.一种小型移动机器人的控制系统研究.机械研究与应用Vol.17 No.6 .
[18]刘柞时,邱小童,林桂娟.竞赛机器人控制系统的研制.机电工程,2005,22(6):53-57.
[19]崔保成.差动式移动机器人轨迹控制和避障方法的研究.哈尔滨工程大学.2002.
[20]张志良.单片机原理与控制技术.第一版.北京:机械工业出版社,2002.45-48.
[21]张烈剽.基于单片机的高精度步进电机控制研究.武汉:武汉理工大学,2007.
[22]王晓明.电动机的单片机控制.第1版.北京:北京航空航天大学出版社2001.5.
[23]钱积新,王慧,周丽芳.控制系统的数字仿真及计算机辅助设计.北京:化学工业出版社,2005:152-160.
[24]丁化成.AVR单片机应用设计.第1版.北京:北京航空航天大学出版,2002.
[25]邓星钟,朱承高.机电传动控制.武汉:华中科技大学出版社,2001:23-40.
[26]孙考年.浅析步进电机驱动器与步进电机的相互关系.世界电子元器件,Vol.9,1999:36-37.
[27]苏长赞.红外线与超声波遥控.第一版.北京:人民邮电出版社.2002.56-78.
[28]李科杰.传感技术.北京:北京理工大学出版社,1989,110-120.
[29]高国富,谢少荣,罗均.机器人传感器及其应用.北京:化学工业出版社,2005.
[30]陈桂生.超声换能器设计.北京:海洋出版社,1984.24-29.
[31] Youngjoon Han,Henrsoo Hhan.Localization and Classification of Target Surfaces Using two pairs of Ultrasonic Sensors.Robotics and Autonomous systems.2000,33(l):31-41.
[32]司现军,王志良.移动机器人多传感器信息融合技术综述.机电工程.2004.21(2):l-5.
[33]瞿金辉,周蓉生.超声波测距系统的设计.中国仪器仪表,vol.8,2007.
[34]赵鹏等.远程机器人监控系统关键技术的研究和实现.小型微型计算系统.2000(12)1261-1263.
[35]祝晓才.轮式移动机器人的运动控制.博士学位论文.长沙:国防科学技术大学,2006.
[36] Gupta K K,Guo ZP.Motion planning for many degrees of freedom: sequential search with back tracking.IEEE Trans on Robotics and Automation,1995,11(6):897-906.
[37]高焕堂,UML嵌入式设计.北京:清华大学出版社,2008:87-394.
[38] Tim Schattkowsky, UML 2.0-Overview and Perspectivesin SoC Design: Proceedings of the Design, Automation and Test in Europe Conference and Exhibition (DATE’05) [C].IEEE,2005: 1530-1591.
[39]韩大鹏,韦庆.机器人控制器的一种模块化设计方法.微计算机信息,2005年第5期:3-4.
[40]王人弊,唐新荣.软件技术基础.修订版.北京航天航空大学出版社,1994: 286-289.
[2] N Nilsson .An application of artificial intelligence techniques .In Proc IJCAI,1996.
[3] Groen F,Spaan M,Vlassis N.Robot soccer: game or science.http://ww.robocup.org.
[4]徐国华,谭民.移动机器人的发展现状及其趋势.机器人技术与应用,2001,3:7-14.
[5]张炜.从日本机器人技术的现状看机器人技术产业化发展.机器人技术与应用,vol.03,2006.
[6] Roland Siegwart,Illah R.Nourbakhsh,自主移动机器人导论(李人厚译).西安:西安交通大学出版社,2006,31-250.
[7]孙增析.智能控制理论与技术.清华大学出版社,1997.
[8]伍谨斐.移动机器人的路径跟踪控制:(硕士学位论文).四川:电子科技大学, 2007.
[9]李磊,叶涛,谭民.移动机器人技术研究现状及未来机器人.机器人. 2002.24(5): 474-480.
[10]谢存禧,张铁.机器人技术及应用.北京:机械工业出版社,2005.
[11] R.C.Arkin.Behavior-Based Robotics.Cambridge,MA:MIT Press,1998:124-125
[12] Kingman,D.J.etal.A Mobile Robot:Snoring, Planning and Locomotion.Proc.IEEEC on f. Robotics and Automation.1987:402-408
[13]冯华山.远程机器人控制系统.西安:西北工业大学出版社,2004.
[14]黄永志,陈卫东.两轮移动机器人运动控制系统的设计与实现.机器人,vol.1 2004:40-45.
[15]张云生.实时控制系统软件设计原理及应用.北京:国防大学出版社,1998.
[16]张铁、谢存禧.机器人学.广州:华南理工大学出版社2002.
[17]宋秩群、杜华生、王德新.一种小型移动机器人的控制系统研究.机械研究与应用Vol.17 No.6 .
[18]刘柞时,邱小童,林桂娟.竞赛机器人控制系统的研制.机电工程,2005,22(6):53-57.
[19]崔保成.差动式移动机器人轨迹控制和避障方法的研究.哈尔滨工程大学.2002.
[20]张志良.单片机原理与控制技术.第一版.北京:机械工业出版社,2002.45-48.
[21]张烈剽.基于单片机的高精度步进电机控制研究.武汉:武汉理工大学,2007.
[22]王晓明.电动机的单片机控制.第1版.北京:北京航空航天大学出版社2001.5.
[23]钱积新,王慧,周丽芳.控制系统的数字仿真及计算机辅助设计.北京:化学工业出版社,2005:152-160.
[24]丁化成.AVR单片机应用设计.第1版.北京:北京航空航天大学出版,2002.
[25]邓星钟,朱承高.机电传动控制.武汉:华中科技大学出版社,2001:23-40.
[26]孙考年.浅析步进电机驱动器与步进电机的相互关系.世界电子元器件,Vol.9,1999:36-37.
[27]苏长赞.红外线与超声波遥控.第一版.北京:人民邮电出版社.2002.56-78.
[28]李科杰.传感技术.北京:北京理工大学出版社,1989,110-120.
[29]高国富,谢少荣,罗均.机器人传感器及其应用.北京:化学工业出版社,2005.
[30]陈桂生.超声换能器设计.北京:海洋出版社,1984.24-29.
[31] Youngjoon Han,Henrsoo Hhan.Localization and Classification of Target Surfaces Using two pairs of Ultrasonic Sensors.Robotics and Autonomous systems.2000,33(l):31-41.
[32]司现军,王志良.移动机器人多传感器信息融合技术综述.机电工程.2004.21(2):l-5.
[33]瞿金辉,周蓉生.超声波测距系统的设计.中国仪器仪表,vol.8,2007.
[34]赵鹏等.远程机器人监控系统关键技术的研究和实现.小型微型计算系统.2000(12)1261-1263.
[35]祝晓才.轮式移动机器人的运动控制.博士学位论文.长沙:国防科学技术大学,2006.
[36] Gupta K K,Guo ZP.Motion planning for many degrees of freedom: sequential search with back tracking.IEEE Trans on Robotics and Automation,1995,11(6):897-906.
[37]高焕堂,UML嵌入式设计.北京:清华大学出版社,2008:87-394.
[38] Tim Schattkowsky, UML 2.0-Overview and Perspectivesin SoC Design: Proceedings of the Design, Automation and Test in Europe Conference and Exhibition (DATE’05) [C].IEEE,2005: 1530-1591.
[39]韩大鹏,韦庆.机器人控制器的一种模块化设计方法.微计算机信息,2005年第5期:3-4.
[40]王人弊,唐新荣.软件技术基础.修订版.北京航天航空大学出版社,1994: 286-289.