室内轮式机器人走行控制的-研究

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1、rⅡABSTRACTABSTRACT：Along、析廿lthedevelopmentofScienceandtechnology,mobilerobotsarewidelyusedinareassuchasaerospace，military,exploration,rescueactivity,industrialmanufacturing，serviceandentertainment,etc．Itisnecessaryforfurtherresearchinmanyaspectssinceit

2、coverswideareasandfacescomplicatedenvironment．Inthisthesis，theline—trackingofindoorwheeledmobilerobotisemphaticallydiscussed．111emainstudycontentsandachievementsofthisthesisincludethefollowingsections：(1)Tostudytheline-trackingofwheeledrobot,thefunctio

3、nalrequirementsoftherobotareanalyzed，thewheeledmobilerobotmechanicalstructureisdesignedonthebasisofdemandandtwoappropriatedrivemotorsareselected．Meanwhileacorrespondingmotordrivingcircuitisdesignedandproduc．脚1．(2)Tosolvetheline-trackingproblemoftherobo

4、t，themovementcharacteristics，sensortechnology,navigationandotherkeytechnologiesofindoormobilerobothavebeendeeplyresearched．111eimplementationformedbyinfraredphotoelectricsensorsandencodersareselected，andthecorrespondingcircuitisdesigned．(3)Tofillthereq

5、uirementsofrobotline—tracking，line-trackingplanshasbeenstudied，andinlightofthespecialcircumstancesofthisrobot,ARM7chiphasbeenchosenasthecontrolchip，therobotline-trackinghasbeenachievedthroughmulti．sensorinformationfusion．(4)Thecombinationofinfrareddist

6、ancesensorsandcontactswitchesareselectedmadetherobotacertainabilit)rtoavoidobstacles．KEYWORDS：WheeledMobileRobot；Navigation；Line—tracking；PIDControlCI。ASSNO：TP242．6iv目录中文摘要⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯．．iiiABSlRACT⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯．iv

7、1绪论⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯．11．1室内轮式机器人的研究现状⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯．．11．1．1单轮机器人⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯11．1．2两轮机器人⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯21．1．3三轮及四轮移动机器人⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯21．2轮式服务机器人的应用⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯。2l-3室内轮式机器人导航概述⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯．．31．3．1导航方式分类⋯⋯⋯⋯⋯⋯

8、⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯。31．3．2导航定位系统分类⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯41．3．3信息融合⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯51．4选题背景与研究意义⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯51．5论文研究内容及章节安排⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯。62移动机器人系统结构模块化设计⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯．82．1轮式机器人系统功能需求分析⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯。82．2轮式机器人系统方案设计⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯⋯