毕业论文自循迹轮式移动机器人的控制系统设计 论文.doc

摘 要 随着社会发展和科技进步，机器人在当前生产生活中得到了越来越广泛的应用。尤其是一种具有道路记忆功能、使用灵活方便、应用范围较广的轮式移动机器人Abstract With the social development and scientific and technological progress, Robot in the current production and life has been more widely used. In particular, the wheeled mobile robotis with memory function, used of flexible, wide range of application.This study is based on Renesas H8 MCU wheeled self-tracking design and realization of intelligent vehicle, Research of the theories and methods about environmental perception, information fusion, planning and decision-making and intelligent control which like Mechanism of human cognition. This intelligent vehicle control system described can be divided into two major sub-control system, They are the direction and speed control system. The core control unit for the Renesas H8 series of 8-bit microcontroller H8/3048F-ONE. System uses infrared sensors to detect track reflective white lines, during operation to identify the different circumstances circuit. And according to the feedback control the direction and speed of smart cars real-time. Fast moving on the predetermined path. Intelligent vehicle design to achieve the purpose of racing and the transmission line. Racing links include power provided and Speed control; Transmission line links including road information and steering control. Through the movement modeling and analysis on smart vehicle. This paper describes the direction and speed control system and other important realization. So the intelligent vehicle can through the straight, curved, ramp and lane changing process. Fast and stable searching the white?lane. Key words： H8MCU self-tracking motion model control system 目 录 摘要 I Abstract II 绪论 1 1 课题要求及总体设计方案 2 1.1 课题要求 2 1.2 课题主要内容及设计方案 2 1.2.1 课题主要内容 2 1.2.2 总体设计方案 2 2 系统硬件设计及实现 4 2.1 硬件组成及各部分作用 4 2.2 舵机的工作原理及驱动 5 2.2.1 舵机的工作原理 5 2.2.2 舵机的驱动 6 2.2.3 舵机的标定和修正 7 2.3 传感器的工作原理及控制 8 2.3.1 传感器的工作原理 8 2.3.2 传感器的采集及处理 8 2.4 电机的工作原理及驱动 9 2.4.1