基于嵌入式系统的室内移动机器人的应用研究

【作者】 刘志雄；

【导师】 李浙昆；

【作者基本信息】 昆明理工大学 ， 机械电子工程， 2007， 硕士

【摘要】 伴随着机器人技术的飞速发展，机器人走进人们的日常生活，服务于家庭及各类公共场所将不再遥远。截止目前，制约机器人普及推广的关键问题是成本、功耗和复杂度，因此降低成本、减小功耗以及设计简单可靠的系统比复杂新技术的开发更为重要。而另一方面，嵌入式系统以其独特的优势，适应机器人对功能、可靠性、成本、功耗等的严格要求。本文研究了室内移动机器人的几项关键技术，探究了一种通用并有效的智能移动机器人嵌入式控制平台，并设计了一套能满足要求的低成本的机器人定位系统以及对自动充电系统进行了研究。本论文的主要工作涉及以下方面：(1)在分析机器人嵌入式控制体系的基础上，以室内移动机器人为研究对象，进行了以S3C44B0为主控制器的嵌入式系统硬件平台设计，以及S3C44B0与各功能子系统的接口设计，替代目前普遍采用的以PC机主板或工控计算机的控制架构。它使得控制系统的成本和功耗大为降低。(2)对现有的嵌入式操作系统进行分析对比，结合室内移动机器人控制系统的特点，选择了μC／OS-Ⅱ作为机器人的嵌入式实时操作系统，并把它移植到主控制系统的处理器中。在操作系统之上，合理规划机器人的任务模块，设计应用程序，实现对各功能子系统的数据通信、控制管理。(3)设计了一套基于红外线入射角传感器的室内定位系统。当面临较小的室内区域时，该系统可以设计成简单的单基座定位系统，当面临较大或较复杂的室内区域时，也很容易扩展成分布式的多点定位系统。该系统成本低廉、结构简单，定位精度满足要求。(4)对机器人自主充电系统进行了研究。设计并制作了知道充电对接装置，并对机器人自主充电决策算法进行了仿真研究。(5)运用势场法和基于行为的机器人技术，对机器人的全局以及局部路径规划进行了运动仿真。更多还原

【Abstract】 With the rapid development of robotics technology, more and more robotics applications will come into people’s living, such as some service robotics applications in homes and public service. Currently, the key problem that limits the popularization of the robotics applications is that robot is currently costly and power-consuming. Reducing the power consumption and cost price of robotic application is more important than developing the new technology in robotics.On the other hand,embedded system has some special advantage on reliability, low power consumption,low cost price and powerful over other system applied in robotics.This thesis investigates the problem of the application of embedded system in robotics and other relative research, then an open, modular and scalable robotics platform based on embedded system is presented.The main contents in this thesis are as follows.(1) The disadvantage of conventional mobile robots was analyzed. A method of robot based on ARM and μC/OS- II was advanced. This platform implemented by using ARM S3C44B0 as the main controller, instead of PC and industrial control computer that commonly used in robotic controUer.The design process was presented from function design, system structure, hardware design and software design. The platform is layered, modularized, extensible, transplantable and customizable. And it also has the advantages such as compact hardware, low-power, real-time performance and high reliability. This architecture’s cost price is low, and its power consumption is very low.It is easy to apply to other robots after simple hardware adjustment and software customization.(2) By means of analyzing and comparing some popular embedded operation system, the μC/OS-II is selected as the real time operation system on the robotic platform. μC/OS-II must be replanted into the main processor of the controller, then some submodule of task subsystem should be layout properly. The program architecture that control and manage the submodule on the robotic platform is presented.(3) A new indoor positioning system based on incident angle measurement of infrared lights has been suggested. When the movement area of the robot is ordinary or limited ,one device is enough.When the entironment is complex, it is easy to design a positioningsystem in distributed manner with multiple observation devices.(4)A method to provide long-term autonomy by implementing autonomous recharging was presented. A recharging station design is presented, consisting of a stationary docking station and a connecting mechanism mounted to robot. At last the emulational experiments are made to prove the feasibility.(5) The mobile robot should have the capability of autonomous navigation.FPF and behavior-based navigation can implement this point. In this paper,a strategy of behavior control systems for autonomous mobile robot was discussed. And the emulational experiments were had as a test.更多还原