基于DSP与超声波测距的农业机器人定位与避障控制

随着新兴电子集成技术和自动化技术的发展,控制系统已逐渐向数字化转变,高集成芯片广泛应用于自动化控制领域,体积小、运算能力强的嵌入式系统慢慢开始取代计算机。为此,首先分析了超声波测距功能及其优越性,采用三球定位技术,设计研究了一种基于DSP和超声波的全局定位系统;然后,采用多路超声波收发模块设计了基于超声波的自主避障控制系统,并提出一种新的模糊推理方法,实现机器人的避障和路径规划功能;最后,采用Visual C++可视化程序设计软件对避障系统进行仿真和场地试验,验证了系统的可靠性和可行性,为机器人的研究和发展提供了更加宽广的空间。

Localization and Obstacle Avoidance Control of Agricultural Robot Based on DSP and Ultrasonic Distance Measurement

With the development of the electronic integration technology and automation technology , control system has gradually shift to digital high integrated chip widely used in the field of automation and control , small volume , strong computing ability of embedded system slowly began to replace the computer .At first , this paper analyzes the ultrasonic ranging function and its advantages , the three global positioning technology is researched and designed a kind of global positioning system based on DSP and ultrasonic .Then the multi-channel ultrasonic transceiver module design the ultra-sonic based autonomous obstacle avoidance control system , and puts forward a new method of fuzzy reasoning , realizes the robot obstacle avoidance and path planning function;at last , using Visual C ++programming visualization software for obstacle avoidance system simulation and field test to verify the reliability and feasibility of the system ,which provides a broader space for the research and development of the robots .