毕业论文：基于DSP的履带机器人避障系统研究（终稿）.doc

I目 录摘 要.............................................................ⅢABSTRACT ........................................................Ⅳ第一章 引言 .......................................................11.1 研究的目的和意义 ...........................................11.2 履带机器人避障系统研究的现状及发展趋势 .....................11.2.1 国内履带外机器人避障系统的研究现状 ......................11.2.2 国内外履带机器人避障路径规划研究现状. ...................71.3 履带机器人研究存在的问题 ..................................101.4 论文各部分内容 ............................................10第二章 基于 DSP 的履带机器人避障系统硬件原理 .......................112.1 系统硬件总体设计方案 ......................................112.2 履带机器人 DSP 控制器选择与介绍 ............................122.2.1 TMS320F2812 芯片介绍 ...................................132.2.2 系统外部扩展存储器 .....................................132.3 传感器的选择与介绍 ........................................142.3.1 声纳传感器 .............................................142.3.2 航向角传感器 ...........................................162.3.3 速度传感器 .............................................162.4 电机的选择与功率驱动主回路设计 ............................172.5 硬件系统抗干扰技术 ........................................192.6 本章小结 ..................................................20第三章 履带机器人避障方法设计 .....................................213.1 履带机器人避障控制的总体框图 ..............................213.2 履带式移动机器人的运动学模型 ..............................213.3 履带式移动机器人的环境建模 ................................223.4 覆盖式路径规划的数学描述 ..................................243.5 覆盖式路径规划的方法设计 ..................................253.6 轨迹控制算法的设计 ........................................263.7 本章小结 ..................................................27II第四章 基于 DSP 的履带机器人避障控制算法的仿真 .....................284.1 控制算法 ..................................................284.2 避障控制算法的 MATLAB 仿真 ...............................304.3 本章小结 ..................................................33第五章 基于 DSP 的履带机器人避障系统的软件设计 .....................345.1 DSP 开发环境介绍 ..........................................345.2 避障控制系统程序 ..........................................345.2.1 主程序模块 .............................................345.2.2 避障模块 ...............................................365.2.3 PID 模块 ...............................................365.2.4 A/D 转换模块 ...........................................385.3 本章小结 ..................................................39第六章 结论与展望 .................................................406.1 结论 ......................................................406.2 研究展望 ..................................................40致谢 ...............................................................41参考文献...........................................................42基于 DSP 的履带机器人避障系统研究 摘要III摘 要本文设计了基于 DSP 的履带式机器人避障系统系统。

首先对履带机器人的国内外研究和使用现状进行了较为全面和详实的介绍，从而寻求出该课题的研究方向；同时介绍了机器人的各种避障控制算法其次，介绍了履带机器人避障系统的总体结构方案设计为实现整个系统的行走及避障功能要求，对系统控制芯片和车轮驱动电机的类型等进行了选择确定了以 TMS320F2812 DSP 为核心控制器，直流电机为主要运动机构的机器人核心部分；同时，设计了机器人的主要硬件构造本文随后根据控制要求分析了系统所需的硬件结构搭建了一个基于 DSP 的机器人控制平台，概括了硬件电路设计中所必须考虑的抗干扰措施之后阐述了控制系统的软件设计方法以车轮电机控制采用增量式 PID 控制算法为重点，介绍了软件控制的总体策略与控制结构，并对仿真结果进行了比较；然后分块介绍各个模块程序与必要的寄存器的设置最后，总结了作者的研究成果，并阐述需要进一步深入研究的工作关键词：履带机器人，避障系统，自主导航，DSP 系统，运动学模型基于 DSP 的履带机器人避障系统研究 摘要IVABSTRACTThis article designed the system which has evaded based on the DSP marching robot bonds.First has carried on more comprehensive and a detailed introduction to the caterpillar band robot's domestic and foreign research and the use present situation, thus seeks this topic the research direction. Simultaneously introduced robot's each kind evades bonds the control algorithm.Next, introduced the caterpillar band robot evades bonds system's gross structure project design. In order to realize overall system's walk and evade bonds the function request, actuated electrical machinery's type to the systems control chip and the wheel and so on to carry on the choice. Had determined take TMS320F2812 DSP as the core controller, the direct current machine for the main motion robot hard core. At the same time, has designed robot's main hardware structure.This article has analyzed the hardware architecture which according to the control request the system needs. Has built one based on the DSP robot control platform, summarized the anti-jamming measure which in the hardware circuit design must consider. Afterward elaborated control system's software design method. Uses the differential motion actuation type caterpillar band robot control algorithm takes the wheel motor control as the key point, introduced software control's overall strategy and the control structure, and has carried on the comparison to the simulation result. Then the piecemeal introduced that each module procedure and the essential register's establishment.Finally, summarized author's research results, and elaborated that needs further deep research work.Key words: Caterpillar band robot, Obstacle avoidance, Autonomous navigat。