嵌入式移动机器人避障驱动系统开发与实现
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摘要
随着智能机器人技术的不断发展,应用领域的不断扩大,智能型家用机器人的研发已成为一项极具应用前景的高新技术行业,而且也是智能机器人目前研究的一个重要热点。本文完成了家用轮式移动机器人控制系统软硬件平台构建、自动避障系统的算法实现、步进驱动系统及超声波避障系统的开发。
智能型家用机器人平台不但要灵活、可靠,而且还要便于移植和功能扩展。根据以上要求,本文基本内容组织如下:介绍了嵌入式操作系统在机器人中应用的必要性,轮式移动机器人硬件平台的设计,说明了所构建的基于ARM的轮式移动机器人系统的总体结构。基于S3C44B0X+uClinux系统平台开发出步进电机运动控制系统。说明了轮式移动机器人选用步进电机的优越性。设计出步进电机驱动电路,开发出嵌入式Linux下的步进电机设备驱动程序。
最后,本文探讨了超声波测距系统的软硬件实现及自动避障系统的工作过程。设计出超声波测距系统的硬件电路,开发出在嵌入式Linux系统下的超声波设备驱动程序。在Linux环境下运用避障算法编写出应用程序,应用超声波设备传回的外围环境信息,通过控制决策调用步进电机设备驱动,使机器人实现了避障、导航功能。然后对整个机器人平台进行总结,作出了性能改进,为下一步机器人的研发工作奠定了基础。
With the gradual development of the intelligent robot technology and the gradual spread of application field, research and development of intelligent home robot, being the center of interest in the rising research presently, has been becoming a high technology industry with promising future. This paper introduces the system platform construction of robot controller, control algorithms realization of automatic obstacle avoidance system, development of stepper motor driving system and ultrasonic measuring system.
The platform of intelligent home robot should be flexible, dependable and easy to port and extend. This paper is organized as following. The importance of embedded operating system is introduced. The design of hardware platform and the whole system structure of wheeled mobile robot based on ARM architecture microprocessor are described. Stepper motor movement control system based on S3C44BOX+μClinuxsystem and advantage of stepper motor are introduced, including the design of stepper motor driver circuitry and development of device driver program in Embedded Linux system.
Finally, the realization of software and hardware of ultrasonic measuring system and running process of automatic obstacle avoidance system are discussed, including design of ultrasonic measuring system circuitry and development of ultrasonic device driver program. According to obstacle avoidance algorithms, depended on periphery circumstance information from ultrasonic sensors, the application program designed in Linux running environment, is able to make use of stepper motor device driver and realize the function of obstacle avoidance and navigation. Then, this paper summarizes the performance of robot platform, put forward capability improvements and establishes foundation for future development of home robot.
智能型家用机器人平台不但要灵活、可靠,而且还要便于移植和功能扩展。根据以上要求,本文基本内容组织如下:介绍了嵌入式操作系统在机器人中应用的必要性,轮式移动机器人硬件平台的设计,说明了所构建的基于ARM的轮式移动机器人系统的总体结构。基于S3C44B0X+uClinux系统平台开发出步进电机运动控制系统。说明了轮式移动机器人选用步进电机的优越性。设计出步进电机驱动电路,开发出嵌入式Linux下的步进电机设备驱动程序。
最后,本文探讨了超声波测距系统的软硬件实现及自动避障系统的工作过程。设计出超声波测距系统的硬件电路,开发出在嵌入式Linux系统下的超声波设备驱动程序。在Linux环境下运用避障算法编写出应用程序,应用超声波设备传回的外围环境信息,通过控制决策调用步进电机设备驱动,使机器人实现了避障、导航功能。然后对整个机器人平台进行总结,作出了性能改进,为下一步机器人的研发工作奠定了基础。
With the gradual development of the intelligent robot technology and the gradual spread of application field, research and development of intelligent home robot, being the center of interest in the rising research presently, has been becoming a high technology industry with promising future. This paper introduces the system platform construction of robot controller, control algorithms realization of automatic obstacle avoidance system, development of stepper motor driving system and ultrasonic measuring system.
The platform of intelligent home robot should be flexible, dependable and easy to port and extend. This paper is organized as following. The importance of embedded operating system is introduced. The design of hardware platform and the whole system structure of wheeled mobile robot based on ARM architecture microprocessor are described. Stepper motor movement control system based on S3C44BOX+μClinuxsystem and advantage of stepper motor are introduced, including the design of stepper motor driver circuitry and development of device driver program in Embedded Linux system.
Finally, the realization of software and hardware of ultrasonic measuring system and running process of automatic obstacle avoidance system are discussed, including design of ultrasonic measuring system circuitry and development of ultrasonic device driver program. According to obstacle avoidance algorithms, depended on periphery circumstance information from ultrasonic sensors, the application program designed in Linux running environment, is able to make use of stepper motor device driver and realize the function of obstacle avoidance and navigation. Then, this paper summarizes the performance of robot platform, put forward capability improvements and establishes foundation for future development of home robot.
引文
1.欧青立,何克忠.室外智能移动机器人的发展及其关键技术研究[J],机器人,2001,(11)):519-526
2.Hubert Roth.Mobile Mini-Robots for Engineering Education[J],Global of Engng.Educ.2002,6(1):79-84
3.LINUX:AN EMBEDDED OPERATING SYSTEM FOR MOBILE ROBOTS,Alan FT Ainfield,2003,02
4.Rick Lehrbaum.Isamn:a humanoid robot with a Pentium+RTLinux Brain.2001.7,http://linuxdevice.com
5.Huang Yi,Soccer-playing robot runs real-time embedded Linux,http://linuxdevice.com
6.EstrinDConnecting.the physical world with pervasive networks.IEEE Pervasive Computing.2002
7.ARM Limited.ARM7TDMI Technical Reference Manual(Rev)[J],ARM,2001,23(16):52-59
8.Samsung Electronics.S3C44BOX RISC MICROPROCESSOR data Sheet[J],Andy Gram.Programming with GNU Software,2002,41(2):74-85
9.Samsung Electronics.The SMDK41100(Samsung MCU Development Kit)[J],Andy Gram.Programming with GNU Software,2002,26(9):45-50
10.ARM Limited,"ARM7TDMI Technical Reference Manual(Rev)".ARM,2001
11.Samsung Electronics,"S3C44BOX RISC MICROPROCESSOR data Sheet",2002
12.Intel 3 Volt Advanced Boot Block Flash Memory 28F004/400B3,28F008/800B3,28F016/160B3,28F320B3,28F640B3 Preliminary Datasheet.April 2000.
13.卞正岗.论嵌入式系统的发展[J],仪器仪表与分析监测,2004,(01):1-3
14.田志刚.嵌入式Linux系统及其应用[J],微计算机应用,2003,24(5):290-295
15.之林.uClinux系统分析[J],开放系统世界,2002,(3):106-110
16.罗嘉等.uclinux上的应用程序设计[J],单片机与嵌入式系统应用,2002,(1):81-84
17.Alessandro rubini,Jonathan corbet.LINUX Device Drivers.ORelly &Associates,Inc.
18.田泽.嵌入式系统开发与应用[M],北京:北京航空航天大学出版社,2005,12-20
19.刘峥嵘,张智超,许振山.嵌入式Linux应用开发详解[M],北京:机械工业出版社,2004,6
20.赵妹颖,高大志,柏立军等.提高足球机器人系统实时性能的硬件优化方法的研究[J],机器人,2000,22(2):23-26
21.马忠梅等.ARM嵌入式处理器结构与应用基础[M].北京:北京航空航天大学出版社,2002,6
22.许庆丰著.用GNU工具开发基于ARM的嵌入式系统[J],单片机与嵌入式系统应用,2002,(12):76-80
23.许群岚.ARM平台下uClinux的移植与应用开发研究.学位论文[D],中南大学.2005
24.刘晶晶.基于ARM-linux嵌入式系统引导程序的设计[J].微计算机信息,2006,2(2):123-1
25.陈坚华,范艳等.基于ARM7TDMI的uClinux移植[J],电子器件,2003,26(1):15-18
26.杜小平,周顺平,赵秋荣.一个Linux下makefile文件的分析[J],现代电子技术.2004.,7(20):12-13
27.马忠梅等.ARM&Linux嵌入式系统教程[M],北京:北京航空航天大学出版社,2004,9
28.万永波,张根宝,田泽,杨峰.基于ARM的嵌入式系统Bootloader启动流程分析[J],微计算机信息,2005,(21):11-2,90
29.黄克彬,叶梧,冯穗力.基于ARM+uClinux嵌入式系统启动引导的实现[J],电子技术应用,2006,5(9):45-50
30.魏忠,蔡勇.嵌入式开发祥解[M],北京:电子工业出版社.,2003,96-13
31.许海燕,付炎.嵌入式系统技术与应用[M],北京:机械工业出版社.2002,56
32.刘爱.基于ARM-Linux嵌入式驱动系统的研究[J],微计算机信息,2006,5(2):18
33.赵俊良,李哲英.Blob S3C44BOX上的移植[J],单片机与嵌入式系统应用,2004,9(26):37-39.
34.周永宏,王成飞,何志敏.ARM7TDMI在嵌入式系统中的Bootloader代码设计[J],单片机与嵌入式系统应用,2004,9(56):27-29
35.王岗,杨翠英.无刷直流电机驱动芯片的应用实例[J],特微电机.,2003,4(2):12-13
36.单承刚,戴学丰,刘树东,崔登志.基于ARM的嵌入式Bootloader设计与启动过程 [J],微计算机信息.2006,11(2):139-142
37.李玉波,朱志强,郭军著.Linux C编程[M],北京:清华大学出版,2005,133-145
38.陆宝络,邵贝贝,李荐民.uClinux的设备驱动程序开发[J],单片机与嵌入式系统应用,2003,6(12):81-83
39.张斌,高波等编.Linux平台下的Web编程[M].北京:清华大学出版社,2000,34-40
40.徐雪松等.基于嵌入式Linux的DiskOnChip设备的驱动开发实现[J],电子设计应用,2003,12(5):45-46
41.马忠梅等.ARM嵌入式处理器结构与应用基础[M].北京:北京航空航天大学出版社,2002,6.
42.邹思铁主编.嵌入式Linux设计与应用[M],北京:清华大学出版社,2002,25-28
43.DANIEL P.BOVET&MARCO CESATI着,陈莉君等译.深入理解LINUX内核[M],北京:中国电力出版社,2004,433-455.
44.张海涛,基于多超声波传感器的避障系统设计[J],山西科技,2006,1(12):78-79
45.赵广涛,程荫杭.基于超声波传感器的测距系统设计[J],微型计算,2006.22(11):129-131
46.程树康.步进电动机及其驱动控制系统[M],哈尔滨:哈尔滨工业大学出版社,2006,12-13
47.刘宝廷.步进电动机控制系统[M],哈尔滨:哈尔滨工业大学出版社,2000,11
48.史敬灼.步进电动机伺服控制技术[M],科学出版社,2006.7
49.房玉明,杭柏林.基于单片机的步进电机[J],开环控制系统.应用,2006,4(23):61-65
50.王晓明.电动机的单片机控制[M].北京:北京航空航天大学出版社,2002,5(6):45-48
2.Hubert Roth.Mobile Mini-Robots for Engineering Education[J],Global of Engng.Educ.2002,6(1):79-84
3.LINUX:AN EMBEDDED OPERATING SYSTEM FOR MOBILE ROBOTS,Alan FT Ainfield,2003,02
4.Rick Lehrbaum.Isamn:a humanoid robot with a Pentium+RTLinux Brain.2001.7,http://linuxdevice.com
5.Huang Yi,Soccer-playing robot runs real-time embedded Linux,http://linuxdevice.com
6.EstrinDConnecting.the physical world with pervasive networks.IEEE Pervasive Computing.2002
7.ARM Limited.ARM7TDMI Technical Reference Manual(Rev)[J],ARM,2001,23(16):52-59
8.Samsung Electronics.S3C44BOX RISC MICROPROCESSOR data Sheet[J],Andy Gram.Programming with GNU Software,2002,41(2):74-85
9.Samsung Electronics.The SMDK41100(Samsung MCU Development Kit)[J],Andy Gram.Programming with GNU Software,2002,26(9):45-50
10.ARM Limited,"ARM7TDMI Technical Reference Manual(Rev)".ARM,2001
11.Samsung Electronics,"S3C44BOX RISC MICROPROCESSOR data Sheet",2002
12.Intel 3 Volt Advanced Boot Block Flash Memory 28F004/400B3,28F008/800B3,28F016/160B3,28F320B3,28F640B3 Preliminary Datasheet.April 2000.
13.卞正岗.论嵌入式系统的发展[J],仪器仪表与分析监测,2004,(01):1-3
14.田志刚.嵌入式Linux系统及其应用[J],微计算机应用,2003,24(5):290-295
15.之林.uClinux系统分析[J],开放系统世界,2002,(3):106-110
16.罗嘉等.uclinux上的应用程序设计[J],单片机与嵌入式系统应用,2002,(1):81-84
17.Alessandro rubini,Jonathan corbet.LINUX Device Drivers.ORelly &Associates,Inc.
18.田泽.嵌入式系统开发与应用[M],北京:北京航空航天大学出版社,2005,12-20
19.刘峥嵘,张智超,许振山.嵌入式Linux应用开发详解[M],北京:机械工业出版社,2004,6
20.赵妹颖,高大志,柏立军等.提高足球机器人系统实时性能的硬件优化方法的研究[J],机器人,2000,22(2):23-26
21.马忠梅等.ARM嵌入式处理器结构与应用基础[M].北京:北京航空航天大学出版社,2002,6
22.许庆丰著.用GNU工具开发基于ARM的嵌入式系统[J],单片机与嵌入式系统应用,2002,(12):76-80
23.许群岚.ARM平台下uClinux的移植与应用开发研究.学位论文[D],中南大学.2005
24.刘晶晶.基于ARM-linux嵌入式系统引导程序的设计[J].微计算机信息,2006,2(2):123-1
25.陈坚华,范艳等.基于ARM7TDMI的uClinux移植[J],电子器件,2003,26(1):15-18
26.杜小平,周顺平,赵秋荣.一个Linux下makefile文件的分析[J],现代电子技术.2004.,7(20):12-13
27.马忠梅等.ARM&Linux嵌入式系统教程[M],北京:北京航空航天大学出版社,2004,9
28.万永波,张根宝,田泽,杨峰.基于ARM的嵌入式系统Bootloader启动流程分析[J],微计算机信息,2005,(21):11-2,90
29.黄克彬,叶梧,冯穗力.基于ARM+uClinux嵌入式系统启动引导的实现[J],电子技术应用,2006,5(9):45-50
30.魏忠,蔡勇.嵌入式开发祥解[M],北京:电子工业出版社.,2003,96-13
31.许海燕,付炎.嵌入式系统技术与应用[M],北京:机械工业出版社.2002,56
32.刘爱.基于ARM-Linux嵌入式驱动系统的研究[J],微计算机信息,2006,5(2):18
33.赵俊良,李哲英.Blob S3C44BOX上的移植[J],单片机与嵌入式系统应用,2004,9(26):37-39.
34.周永宏,王成飞,何志敏.ARM7TDMI在嵌入式系统中的Bootloader代码设计[J],单片机与嵌入式系统应用,2004,9(56):27-29
35.王岗,杨翠英.无刷直流电机驱动芯片的应用实例[J],特微电机.,2003,4(2):12-13
36.单承刚,戴学丰,刘树东,崔登志.基于ARM的嵌入式Bootloader设计与启动过程 [J],微计算机信息.2006,11(2):139-142
37.李玉波,朱志强,郭军著.Linux C编程[M],北京:清华大学出版,2005,133-145
38.陆宝络,邵贝贝,李荐民.uClinux的设备驱动程序开发[J],单片机与嵌入式系统应用,2003,6(12):81-83
39.张斌,高波等编.Linux平台下的Web编程[M].北京:清华大学出版社,2000,34-40
40.徐雪松等.基于嵌入式Linux的DiskOnChip设备的驱动开发实现[J],电子设计应用,2003,12(5):45-46
41.马忠梅等.ARM嵌入式处理器结构与应用基础[M].北京:北京航空航天大学出版社,2002,6.
42.邹思铁主编.嵌入式Linux设计与应用[M],北京:清华大学出版社,2002,25-28
43.DANIEL P.BOVET&MARCO CESATI着,陈莉君等译.深入理解LINUX内核[M],北京:中国电力出版社,2004,433-455.
44.张海涛,基于多超声波传感器的避障系统设计[J],山西科技,2006,1(12):78-79
45.赵广涛,程荫杭.基于超声波传感器的测距系统设计[J],微型计算,2006.22(11):129-131
46.程树康.步进电动机及其驱动控制系统[M],哈尔滨:哈尔滨工业大学出版社,2006,12-13
47.刘宝廷.步进电动机控制系统[M],哈尔滨:哈尔滨工业大学出版社,2000,11
48.史敬灼.步进电动机伺服控制技术[M],科学出版社,2006.7
49.房玉明,杭柏林.基于单片机的步进电机[J],开环控制系统.应用,2006,4(23):61-65
50.王晓明.电动机的单片机控制[M].北京:北京航空航天大学出版社,2002,5(6):45-48