【摘要】 为了实现视觉导航AGV的有效地实时控制,一方面需要高性能的运算处理器快速运行图像处理算法和路径跟踪算法,另一方面需要可靠的微控制器实现多样化的传感器信号采集及电机控制等低层行为。对此设计了基于ARM Cortex-A8和M3系列SoC的车载双核控制器。首先进行了操舵型AGV的机电系统分析,其次针对AGV的控制器功能需求分别进行了控制器的硬件设计和软件设计,其中使用了层次化的硬软件设计模型,并对主要功能程序模块进行了详细说明。最后在自主研制的AGV平台Anrot-I上进行了控制器的实验,通过对实际路径跟踪的数据图表分析,验证了该控制器能够同时运行图像处理算法和路径跟踪算法,并对AGV机电系统进行实时控制。实验结果显示,该控制器在性能和结构上的有效性。更多还原

【Abstract】 Aiming at realizing the effect control of the vision-based AGV,on the one hand there is a need of high performance processors to run the image processing algorithm and path tracking algorithm,on the other hand there is a need of reliable micro controllers to collect a variety of sensor signals and to control the motors. A dual-core vehicle controller based on ARM Cortex-A8 and M3 was designed and realized. Firstly the electro-mechanical system of steering type AGV was analyzed. Then according to the functions that need,both hardware and software designed of the dual-core controller were implemented,where the hierarchical design model was used.And the main modules for the program were explained in detail. Finally the controller was tested on the independently developed AGV platform Anrot-I. The results of the experiment indicate the effectiveness and progressiveness on performance and structure.更多还原