摘要
提出了一种基于OMAP3530微控制器和CAN总线的缆索检测蛇形机器人的设计方法,详细分析了蛇形机器人应用目的与应用环境,搭建了基于CAN总线和无线局域网的蛇形机器人多级分布式控制系统,在此基础上优化了通信协议,制定了CAN协议下的数据滤波规则和数据包分割与重组协议,提高了总线的利用率、实时性和稳定性,增强了系统的可扩展性。
Proposed a design method for cable detection based on OMAP3530 micro-controller and CAN bus,having a detailed analysis of the snake-like robot application purpose and application environment.Had built a snake-like robot control system based on CAN bus and sensor network architecture.On this basis,optimized communication protocol,developed a data packet filtering rules and an agreement for data packet segmentation and restructuring under the CAN agreement.This improved bus utilization,real-time and stability of the bus,also enhanced the scalability of the system.
出处
《计算机测量与控制》
CSCD
北大核心
2010年第10期2312-2314,2322,共4页
Computer Measurement &Control
