移动机器人新型半智能路径导航系统设计和实现.docVIP

移动机器人新型半智能路径导航系统的设计与实现 贺凯 李韶杰 吉亚威 赵鹏 （陕西科技大学理学院 西安 710021 中国） 摘要：针对作为民用基础服务行业的机器人，由于视觉伺服控制系统存在稳定性不高，结构复杂，成本高等问题，本系统基于飞思卡尔公司MC9S12XS128、STC公司STC12LE5A60S2单片机构成主从单片机系统，提出基于人辅助路径规划的半智能路径规划系统，通过人在触摸屏输入信息构建先验地图，然后基于航迹推算算法和路径分析算法对特定地图的特定路径进行行走，在行走过程中依赖自身传感器保障机器人系统安全和外界安全，并通过蓝牙无线传输的方法实时传回机器人的各项信息，同时实时的在上位机方面进行路径显示和信息处理，该系统进一步简化了机器人导航算法的复杂度，使得机器人应用于基础服务行业的可能性大幅提高、可靠性进一步增强。 关键词：服务机器人；半智能路径规划；位置推算；无线通信；多线程串口API 注：国家级大学生创新训练计划项目，编号：201210708062 The new style intelligence path navigation system for the mobile robot He Kai, Li ShaoJie, Ji YaWei, Zhao Peng (The college of science in Shaanxi University of science and Technology，Xi’an Shaanxi 710021) Abstract: As the robots of public foundation service profession, Because Vision－based navigation needs another further exaltation or severe program complications, high cost value, This article which is based on the STC12 LE5 A60 S2 mcu of the STC company and the MC9 S12 XS128 mcu of the Freescale company organized a principle and subordinate mcu system and put up with a kind of robot GUI system which support to path auto guide based on the half intelligence path programming system.First,Make use of the information that the person input on the touch lcd to set up the foregone map, Then the robot walks the way basing on analyzing the particular path data on particular map and finding itself position by calculating the road information, With the robot walking, the robot not only protect itself and the surroundings from damaging by it抯 multi-transducer,but also send the information to the personal computer by the Wireless Bluetooth Technique, At the same time of the robot running ,The PC software will show and proces the information of the mobile robot sending, The system simplified the robot navigates program further ,And it improved the possibility of the robot applied to the foundation service profession and strengthened the system抯 credibility. Keywords: service robot; the half intelligence path programs; position to reckon; th