【作者】 龚根华；

【导师】 龚华军；

【作者基本信息】 南京航空航天大学 ， 控制理论与控制工程， 2004， 硕士

【摘要】 本文从轮式移动机器人(WMR)的体系结构出发，重点设计了机器人移动控制系统的硬件、软件平台。首先，通过对非完整轮式移动结构和直流伺服电机模型的分析，建立了移动机器人的控制系统模型。其次，设计了基于AVR微控制器(AT90S8515)的移动控制系统，其中主要包括PWM功率驱动、测速单元和串行通讯模块等：对机器人速度、位置控制采用模糊PID算法，较好地克服了移动机器人模型的不确定性、转速位置控制要求的多变和环境改变等因素的影响。程序使用ICCAVRC语言编写，在AVR SUDIO调试软件中用ICE200仿真，并最终实现。仿真结果和机器人实际运行验证了设计效果良好。本文最后，还对移动机器人路径规划进行了研究，使用启发式搜索算法在给出的地图信息空间中寻找理想的路径。更多还原

【Abstract】 In view of the Architecture of Wheeled Mobile Robot, this paper emphasizes on the design of hardware and software platform based on control system. Firstly, A whole control model is given after analyzing the wheeled structure with nonholonomic constraints and the model of DC servo-motor building. Secondly, We develop a motion control system using AT90S8515 microcontroller. A closed Pulse Width Modulation(PWM) regulating speed system for DC servo-motor is presented, it is composed of AVR microcontroller, PWM power driver, unit of speed detection using encoder and a serial communication interface, etc. Fuzzy PID algorithm is employed to control the speed and position of WMR. The method can solve effectively some problems such as the uncertainty of WMR’s model, the varieties demand, the change of situation. Program is wrote in ICCAVR C language and debugged in AVR Studio with ICE200 simulator. The control system of wheeled mobile robot has good performance. Simulated result and practical performance both approve the validity of design. At last, we study on robot path planning for an approach to find out a perfect path in a certain map using a heuristic search algorithm.更多还原