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基于无线通信的嵌入式机器人控制系统设计

消耗积分:5 | 格式:rar | 大小:3493 | 2010-12-17

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 以支持实时仿真和嵌入式跟踪的32位ARM7处理器LPC2129为控制核心，设计开发了轮式机器人控制系统硬件平台；系统集成了无线通信数据收发模块PTR2000、光电传检测模块及超声波导航模块。该硬件平台下移植了嵌入式实时操作系统μC/OS-Ⅱ，依据各个控制功能和微控制器的资源结构对任务进行划分，根据传感器反馈信号对机器人实时控制。
Abstract:
 The hardware platform for the control system of the wheeled mobile robots is designed.The 32-bit ARM7 processor LPC2129 that supports the real-time simulation as a central control unit is adopted.Modules of wireless communication,photodetection and ultrasonic navigation are included in the system.The embedded real-time operation system μC/OS-Ⅱ is ported into the platform.Tasks are divided according to their control functions and the resource configuration of the MCU. The robot is controlled in real-time by the feedback signals.
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