摘要
针对目前小型移动机器人控制系统存在的设计成本高、平台搭建困难、过度依赖网络的问题,将软件设计模式中的MVC模式应用于移动机器人控制系统设计,同时,在Android平台和Arduino控制板上使用Java、C语言进行了实验。提出了基于Android移动计算平台、结合蓝牙通信和无线局域网(WiFi)通信的小型智能移动机器人平台Mobile-Android。详细地描述了该平台的系统结构、控制软件,包括GUI界面模块、运动控制模块、命令配置模块、上位机与下位机通信协议等的设计与实现。在原型系统上初步的测试结果表明,该智能移动平台方案既能够实现智能移动机器人系统硬件平台的快速搭建,又能够充分发挥移动机器人的运动特性与智能手机的强大信息处理能力和控制能力;结合两者长处,获得了一个完整的智能移动机器人系统。
Aiming at solving problems that the current high cost of small mobile robot control system, difficulty of platform building and ex- cessive dependence on network, the MVC pattern in software software design pattern was applied to mobile robot control system design, at the same time, an experiment using C and Java language was carried on Android platform and Ardroid board. A small mobile robot platform named Moblile-Android based on Android was put forward. Bluetooth and WiFi communication was applied to the platform. The system struc- ture of the platform and controlling software was described in detail, including GUI module, motion controlling module, orders configuring module and data communication protocol between upper computer and slave machine. The test results of prototype system indicate that this intelligent mobile platform schema can not only build up hardware platform quickly, but bring the movement characteristics of mobile robot and the powerful processing and control ability of the intelligent mobile phone into full play. Combining both of their advantages, a complete intelligent mobile robot system is obtained.
出处
《机电工程》
CAS
2013年第11期1414-1419,共6页
Journal of Mechanical & Electrical Engineering
