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全面介绍了一种全方位移动机器人的控制系统体系结构及软件的控制策略 ,包括采用的超声和激光传感器系统、网络化无线通讯系统、基于上下位机的计算机控制系统等方面。重点介绍了基于LM6 2 8的系统的伺服控制方法 ,并给出了机器人运动实验的结果 ,证明了系统的可行性。该系统适合在非结构化动态环境中进行分布式多Agnet(智能体 )、多机器人的协作与协调、移动机器人路径规划与避碰等研究。
This paper introduces a comprehensive control system architecture and software control strategy for a full range of mobile robots, including ultrasonic and laser sensor systems, networked wireless communication systems, and computer control systems based on the upper and lower computer. The servo control method based on LM6 2 8 system is introduced emphatically, and the result of robot motion experiment is given, which proves the feasibility of the system. The system is suitable for the research on the coordination and coordination of distributed multi-Agnet and multi-robot in unstructured dynamic environment, path planning and collision avoidance of mobile robots.