摘要
一种基于DSP与USB总线的新型开放式移动机器人控制系统,其机器人以PC为上位计算机,用一块DSP运动控制卡对机器人的两个步进电机进行控制。并采用USB总线进行上下位机之间的通讯,很好地实现了机器人的实时控制。设计制作的一种分布式超声环境探测系统,可用于实现移动机器人的环境地图建立、定位、目标跟踪、导航、避障等功能。
A new type of open mobile robot control system is based on DSP and USB. This robot control system takes PC as the supervisory-controlled computer, and a DSP motion control card as the core to control two-step motors of a robot. It adopts USB bus to communicate the two processors. This method realizes the robot real-time control. A distributed ultrasonic circumstance exploration system is developed. With this method, the robot can make the environment map, the orientation, the object tracing, the navigation, and can avoid barrier.
出处
《兵工自动化》
2008年第1期80-82,共3页
Ordnance Industry Automation
