The control and sensor system of mobile robot is usually based on PC(Personal Computer) system, which is characterized by easy expansion and easy update. But it also has such disadvantages as highspace occupation and high power consumption. Supported by “New High-Performance and Low Power Consumption General Robot Control and Sensor System”, a 863 National High-tech Project, we have developed an embedded control and sensor system with the above mentioned properties. The main contents of this dissertation are listed as follows: 1. First of all, the history, application and development of mobile robots are briefly reviewed. Main recent studies on control and sensor system of mobile robots are then addressed in details. The development trend of this system is finally presented. 2. To overcome the weakness in performance and power-consumption, an embedded and distributed system is developed, which is based on ARM9, DSP and FPGA, and characterized by parallel archetecture, modularization, high performance and low power consumption. 3. In order to improve the reliability of software, Linux 2.6 operating system is imported. Some related issues on Linux porting are discussed, and the key technologies of BootLoader porting, kernel porting, device drivers designing and file system making are also addressed in details. 4. Based on FPGA technology, parallel and pipelined architectures of Canny algorithm and Hough Transform are designed. The implementations of those architectures on FPGA are presented and the performances of these implementations are also evaluated. 5. In order to verify the performance of this embedded system, two kinds of moblie robot platform based on this system are built up, and various experiments are undertaken, whose results confirm the properties of this system.
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