【作者】 徐开；

【导师】 贾庆轩； 孙汉旭；

【作者基本信息】 北京邮电大学 ， 机械设计及理论， 2009， 硕士

【摘要】 多机器人系统的研究已经成为机器人学研究的一个重要方面,因为多机器人系统具有许多单机器人系统所没有的优点,如空间上的分布性、功能上的分布性、执行任务时的并行性、较强的容错能力、更低的经济成本等。本论文以基于无线局域网的多机器人控制平台为核心。首先对多机器人系统进行了简要概述。然后着重介绍多机器人控制平台的搭建,主要从硬件、软件两个方面对基于无线局域网的多机器人控制平台进行了详细的阐述。硬件部分介绍了基于ARM9的通用多机器人控制板和基于ATmega128的机器人车体控制器的研制。多机器人控制板实现了无线局域网的接入、现场图像采集、LCD触摸屏人机交互等功能。机器人车体控制器实现了直流电机的驱动及控制等功能。软件部分介绍了基于UDP的无线局域网图像传输和基于TCP的控制命令传输。更多还原

【Abstract】 Multi-robot systems research has become an important aspect of the robot study. The multi-robot system has many advantages that the single-robot system is unavailible,such as special and functional distribution,the parallelism of mandate execution,and the lower economic costs.The wireless local area network based multi-robot control platform is the core of the term paper. Firstly, the auther make a brief overview of the multi-robot system.Secondly,the auther focus on building multi-robot control platform ,including the hardware design and software design.In the hardware design part, the auter introduce the ARM9-based general-purpose multi-robot control panel and the ATmegal28-based motor controller. Multi-robot control panel completed the features above: wireless local area network access; on-site image acquisition; human-computer interaction. Motor controller completed the robot body contral.In the software design part, the auter introduce the follow function:UDP-based wireless LAN image transmission; TCP-based transmission of control commands.更多还原