【摘要】 根据移动机器人重构和多执行器的特点,研制出基于高可靠性的PC104和独特直流电机驱动控制网的开放型控制器.控制指令和数据的广播或点对点的通讯以及电机运动模式的在线转换可以通过RS232/485网络轻松实现.基于事件的分级并行竞争式的控制结构,对于移动机器人在未知环境中的避障导航,具有切实可行的实际意义.实验表明:这种控制系统具有多任务的适应性、结构开放性和高可靠性.更多还原

【Abstract】 According to the reconfiguration and multi-effector characteristics of mobile robot, an open control system based on reliable PC104 and innovative driving & control networks for DC motors is developed. Broadcasting or spot-to-spot communication for data and commands, as well as the on-line conversion of the motor motion mode, can be realized easily via RS232/485 networks. A hierarchical parallel competitive control architecture based on event is practical for obstacle avoidance and navigation of mobile robots in unknown evironments. Experiments show that this control system is open and reliable. It is also adaptive to multi-mission-orientated navigation.更多还原