摘要
为了解决移动机器人路径自动跟踪系统路径跟踪所需时间长、跟踪准确性差的问题,提出并设计了基于激光雷达的移动机器人路径自动跟踪系统。硬件部分包括MC9S12XS128微处理器、电源模块、电机驱动模块、舵机模块和速度检测模块的功能,利用电枢端的电压和电流等条件计算直流电机的转数,通过检测机器人的移动速度来消除机器人在移动时受到的影响因素;软件部分包括:数据显示管理、路径规划、自主避障环境模型构建和数据采集,按照功能分类有激光数据采集、参数设置、MTi操作、可视化和路径自动跟踪结果,最终实现移动机器人路径自动跟踪系统的设计。实验结果表明,移动机器人路径自动跟踪系统在自动跟踪路径时,不仅所需时间短,还具有较高的准确性。
In order to solve the problems of long time cost and poor tracking accuracy of path tracking system for mobile robot,a path tracking system for mobile robot based on lidar is proposed and designed. The hardware part in- cludes the functions of MC9S12XS128 microprocessor,power module,motor driving module,steering engine module and speed detection module. The DC motor's rotation is calculated by using the voltage and current at the armature end,and the influencing factors are eliminated by detecting the mobile speed of the robot. The software part includes data display management,path planning and self-determination. The main obstacle avoidance environment model and data acquisition can be classified into laser data acquisition,parameter setting,MTi operation,visualization and auto- matic path tracking results. Finally,the design of automatic path tracking system for mobile robots is realized. The ex- perimental results show that the automatic path tracking system of mobile robot in this paper not only has short time cost,but also has high accuracy.
作者
沈飞
艾庆生
SHEN Fei;AI Qingsheng(Department of Physics and Electronic Engineering,Hanjiang Normal University,Shiyan Hubei 442000,China)
出处
《激光杂志》
北大核心
2019年第10期135-138,共4页
Laser Journal
基金
湖北省高校图工委基金项目(No.2017YB007)