论文部分内容阅读
以实验室研制的轮式自主移动机器人为平台,研究了基于室内无线传感器网络(WSN)的移动机器人路径跟踪问题.设计了以LPC2132微处理器控制为主、PIC系列单片机控制为辅的移动机器人分级控制系统,构建了一个基于Micaz模块和TinyOS组件程序的室内WSN实验平台,提出并实现了基于非线性改进型比例、积分及微分(PID)控制与航向跟踪控制策略的移动机器人路径跟踪控制.对设计的移动机器人系统进行了有效的路径跟踪实验,利用Matlab对实验数据进行了仿真,验证了其可行性和可操作性,为进一步实验提供了坚实的理论基础.
Based on the platform of wheeled autonomous mobile robot developed by lab, this paper studies the path tracking of mobile robot based on Indoor Wireless Sensor Network (WSN), and designs a mobile robot which is controlled by LPC2132 microprocessor and complemented by PIC series microcontrollers Hierarchical control system, an indoor WSN experiment platform based on Micaz module and TinyOS component program is built, and the path tracking control of mobile robot based on nonlinear improved proportional, integral and derivative (PID) control and heading tracking control strategy is proposed and implemented. An effective path tracing experiment is designed for the designed mobile robot system. The experimental data are simulated by Matlab, which verifies the feasibility and operability of the proposed method and provides a solid theoretical basis for further experiments.