摘要
实现了一种基于ATmega128单片机的清洁机器人控制系统,包括硬件设计以及软件算法的实现.控制系统硬件部分传感器包括红外测距传感器,碰撞开关,红外测速传感器等.红外测距传感器、碰撞开关用来感知障碍物,红外测速传感器用来检测驱动轮的速度,电机为驱动轮以及清扫机构提供动力.本文软件部分采用了全覆盖路径规划算法,为环境建立固定坐标系,以沿边行走方式探测环境信息,实现了清洁机器人区域全覆盖行走功能.
This paper described the control system design of cleaning robot based on ATmega128 MCU, includ- ing hardware design and realization of software algorithms. The hardware of the control system contains an infrared dis- tance sensor, several collision switches, and an infrared speed sensor. The infrared distance sensor and collision switches are used to detect obstacles, the infrared speed sensor is used to detect the speed of the driving wheel, and motors are used to drive wheels and sweeping sector. With complete coverage path planning algorithm, the system es- tablished a fixed coordinate system for the environment to detect environment by walking along the border. The control system achieved the goal - - cleaning robot＇ s walking function to completely cover an area.
出处
《佳木斯大学学报（自然科学版）》
CAS
2009年第5期657-660,664,共5页
Journal of Jiamusi University：Natural Science Edition
