【作者】 彭超；

【导师】 程平；

【作者基本信息】 武汉理工大学 ， 电工理论与新技术， 2013， 硕士

【摘要】 机器人技术涉及机械工程、电子技术、计算机技术、自动控制理论以及人工智能等多门学科的知识,是一个国家科技发展水平和国民经济现代化、信息化的重要标志。随着现代科学技术的迅猛发展,机器人在国防、工业生产、百姓生活等领域得到广泛应用。可以预见,机器人技术的发展将对人们的生产生活产生更为深远的影响。本课题研究的智能小车又叫轮式机器人,是移动机器人的一种。本文介绍了课题的意义、国内外研究现状和移动机器人的关键技术。选用稳定的四轮结构车体,其中两轮为驱动轮,通过差速转向,建立其运动学模型。通过比较分析采用Samsung公司的S3C6410处理器作为嵌入式控制中心的核心,选用Android系统作为嵌入式操作系统。智能小车硬件系统由嵌入式控制中心结合稳压电源、电机驱动电路、霍尔开关、超声波传感器、CMOS摄像头、WIFI模块、蓝牙模块等组成；软件系统搭建Android操作系统平台,并设计各模块驱动程序。根据智能小车工作空间的不确定性,选择模糊控制作为路径规划方法,建立模糊控制规则,并在Matlab中创建模糊控制器进行仿真。为实现通过网络对智能小车的监控功能,在嵌入式控制中心移植精简的BOA服务器,并移植视频服务软件mjpg-streamer;综合运用HTML、Javascript和CSS技术设计开发PC机客户端,通过Eclipse开发调试Android手机客户端,PC机和蓝牙手机分别通过WIFI和蓝牙实现与智能小车的通信。智能小车的软件系统和硬件系统通过分步调试和统一调试,嵌入式控制中心工作稳定,各传感器能够较为准确采集数据,小车能够实现自主避障功能。通过WIFI和蓝牙模块实现了PC机、Android手机与智能小车之间的有效数据通信传输。更多还原

【Abstract】 Robotics is an important symbol of national scientific and technological level of development and modernization of the national economy, information technology, and it relates to the knowledge of the discipline of mechanical engineering, electronic technology, computer technology, automatic control theory and artificial intelligence, With the rapid development of modern science and technology, the robot has been widely used in the field of defense, industrial production, people’s lives. Predictably, the development of robot technology will have more profound influence on people’s production and living.This research project ’the intelligent car’known as wheeled robot, is also a kind of mobile robot. This article introduces the significance of the subject, domestic and foreign research status and the key technology of mobile robot. With stable four-wheel car body structure, including two drive wheels, differential steering, established its kinematics model. Through a comparative analysis it choose Samsung’s S3C6410processor as the core of the embedded control center, and choice the Android system as an embedded operating system. The hardware system of the intelligent car consists of an embedded control center combined with the power supply, motor drive circuit, Hall switch, ultrasound sensors, CMOS camera, WIFI module, Bluetooth module group; The software system builds the Android operating system platform, and designs each module’s driver procedures. According to the uncertainty of the intelligent car’s workspace, it selects the fuzzy control rules as the path planning method, and creates a fuzzy controller for simulation in Matlab. In order to achieve the monitoring functions of the intelligent car through the network, it transplants the streamline BOA server in the embedded control center, and transplants the software mjpg-streamer for video services; It designs the PC client by using technology of HTML, Javascript and CSS comprehensively and debugs Android mobile phone client through the Eclipse, realizing the communication with PC and Bluetooth mobile phone respectively by WIFI and bluetooth.Through separate and uniry dedbugging for the Software system and hardware system of the intelligent car, the embedded control center can work stability, and each sensor can collect right data, the car is able to avoice obstacles automatically. Through the WIFI module and bluetooth module,the communication and transmission of the effective data with PC, Android phone is realized.更多还原