文档介绍：室内自主机器人的实时避障与导航系统的设计与实现
摘要
本文根据ABU2007机器人大赛的规则要求,对机器人的控制系统和调试方法做了比较深入的探索,并实际完成了所有机器人的软件控制系统。机器人采用了TI公司的TMS320LF2407A作为核心控制器,使用EP1C3T144C8作为外设控制器,很好地解放了核心对外设的接口控制,使得DSP能够更加高效地用于定位计算。本文成功解决了机器人导航过程中的定位、累计误差修正、路径规划以及避障等问题,使其运动多线多样化,提高了机器人的灵活性和可靠性。另外,本文在机器系统中引入了无线调试系统,使得机器人在运行过程中的各种信息变的可控可观测,极大地加快 了系统的调试进度。同时,调试系统的PC端程序可以生成机器人的路线代码,使得机器人策略路线的制定更加方便可靠。整个机器人系统在经过长时间的实地测试与改进后,基本达到了设计要求,为本次成功参赛垫定了坚实基础,也为以后机器人控制系统的设计积累了十分宝贵的经验。
关键词:机器人,定位,路径规划,避障,无线调试,DSP
Design and Implementation of Real-Time Navigation and Obstruction Avoidance for Indoor Autonomic Mobile Robot
Abstract
In this page, we have made a deep research about the robot control system and the debug method according to the subject and rule of the ABU2007 contest, then we finished the software control system of all the robots. The system use TI’s product TMS320LF2407A to be the core controller, and the FPAG EP1C3T144C8 as the assistant controller, which works very well to make the putes more effectively. This page resolves the localization, correcting of accumulative total error, path plan and avoiding the obstruction essfully, which makes the robots have more path to move, and improves the moving agility and reliability of the robots. Additionally, we developed a wireless debug system, so that we have a real-time program to watch the trace and parameters that we are interested in. We can change the important parameters of the robots and set the path by the real-time control program. The hole system has been tested and improved for a long time. It reach the design goal basically, so that we can join the contest essfully, and also gives much important experience to the following design.
Keywords: localization, path plan, obstruction avoidance, wireless debug, DSP
目录
1 绪论 1
室内自主机器人导航与壁障系统的发展现状 1
ABU大学生机器人电视大赛背景资料 1
赛事现状和技术概况 2
2 课题背景 3
比赛场地介绍 3
机器人 4
积分规则 4
方案总体 4
具体方案 5
3 机器人控制电路分析与设计 7
硬件选型 7
地址映射 7
FPGA外设控制器 8
电机驱动 8
印刷电路板 10
4 机器人控制软件分析与设计