【摘要】 该文提出了一种由远程监控机、PC104及DSP组成的基于CAN总线通信的自主移动机器人通信系统的分布式体系结构。在此结构基础上,阐述了移动机器人主体的上层控制计算机PC104与底层控制系统各DSP之间的CAN总线通信协议,并给出了相应的通信软件的具体设计与实现。最后,在笔者研发的自主移动机器人CASIA-I上实现了上述通信控制软件。更多还原

【Abstract】 This pape r proposes a distributed communication architecture based on the CAN bus for auton omous mobile robot.This architecture consists of monitoring and controlling com puter,PC104and DSP.On the basis of the architecture,the CAN bus communicat ion protocol between the higher level computer PC104and lower level DSP is de scribed.Then the design and implementation of the communication software is pre sented.At last,the communication control software is carried out on the desi gned and developed autonomous mobile robot CASIA-I.更多还原