基于arm平台的移动机器人路径规划研究

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1、thealgorithmconvergedwithprobability1wasproved.Thirdly,mobilerobotpathplanningbasedonantcolonyalgorithmwasintensivelystudied.Wefocusedontheestablishmentofsimulationenvironmentandthemodel,thesimulationeffectanddeterminationoftheparametersofantcolonyalgorith

2、m.Joinedthechaosoperator,theperformanceofACSalgorithmisimproved.Simulationresultsshowthatchaoticantcolonyalgorithmnotonlyhasfastconvergencespeed,butalsohashighprecisionevenoncomplexmap.Atlast,twoaspectsofthehardwareplatformandsoftwareenvironmentofembeddeds

3、ystemwerestudied.TheoutputPWMoftheS3C6410accessedsteppingmotordriverchip,todriversteppermotorforthecontrolofrobotmovingdirection.Atthesametime,wetransplantedLinuxoperatingsystemanddesignedLinuxdevicedriverbasedontheARMplatform.KEYWORDS：mobilerobot;embedded

4、system;pathplanning;antcolonyalgorithm;PWM;devicedriverIV目录第一章绪论.........................................................11.1课题研究的背景和意义.....................................................11.2国外研究现状..........................................................

5、...51.3国内研究现状.............................................................71.4本文所做的工作...........................................................81.5论文组织结构.............................................................9第二章嵌入式系统介绍..............................

6、..................102.1嵌入式Linux文件系统....................................................10 2.1.1基于Flash的文件系统..............................................11 2.1.2基于RAM的文件系统..............................................12 2.1.3嵌入式rootfilesystem制作............

7、...............................132.2设备驱动程序............................................................152.2.1设备驱动的作用....................................................152.2.2驱动架构..........................................................152.2.3高级字符驱动操作....

8、..............................................172.3ARM11时钟体系与功能...................................................182.4本章小结...............................................................23第三章蚁群算法及其收敛性分析......