基于DSP与超声波测距的农业机器人定位与避障控制

发布时间：2018-05-14 20:35

本文选题：农业机器人 + 定位　；参考：《农机化研究》2017年08期

【摘要】：随着新兴电子集成技术和自动化技术的发展,控制系统已逐渐向数字化转变,高集成芯片广泛应用于自动化控制领域,体积小、运算能力强的嵌入式系统慢慢开始取代计算机。为此,首先分析了超声波测距功能及其优越性,采用三球定位技术,设计研究了一种基于DSP和超声波的全局定位系统;然后,采用多路超声波收发模块设计了基于超声波的自主避障控制系统,并提出一种新的模糊推理方法,实现机器人的避障和路径规划功能;最后,采用Visual C++可视化程序设计软件对避障系统进行仿真和场地试验,验证了系统的可靠性和可行性,为机器人的研究和发展提供了更加宽广的空间。
[Abstract]:With the development of new electronic integrated technology and automation technology, the control system has gradually changed to digital. High integrated chip is widely used in the field of automation control. The embedded system with small volume and strong operational ability gradually begins to replace the computer. For this reason, the function and advantages of ultrasonic distance measurement are analyzed, and three ball positioning is used. Technology, a global positioning system based on DSP and ultrasonic is designed and studied. Then, an independent obstacle avoidance control system based on ultrasonic is designed by using the multi-channel ultrasonic transceiver module. A new fuzzy reasoning method is proposed to realize the obstacle avoidance and path planning of the robot. Finally, the Visual C++ visual programming software is used. The simulation and site test of the obstacle avoidance system verify the reliability and feasibility of the system, which provides wider space for the research and development of the robot.

【作者单位】：天津冶金职业技术学院电子信息工程系;
【基金】：天津市教委教育信息化战略研究基金项目(X2014-022) 教育部高校硕士点基金项目(200801120007)
【分类号】：S24;TP242

【相似文献】