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本文针对研制开发的小型地面移动机器人,介绍了一种以ARM+DSP为控制模式和基于CAN总线通讯的嵌入式控制系统。该控制系统不仅保证了硬件系统具有良好的可扩展性、灵活性、实时性、低功耗的特点,而且满足尺寸小、重量轻、性能高等要求。同时设计完成了机器人的传感系统,实现了基于无线通讯、遥控/半自主控制方式的机器人运动控制。
This paper introduces a kind of embedded control system based on ARM + DSP and CAN bus based on the small ground mobile robot developed. The control system not only ensures that the hardware system has good scalability, flexibility, real-time performance and low power consumption, but also meets the requirements of small size, light weight and high performance. At the same time, the robot’s sensing system has been designed and completed, and robot motion control based on wireless communication and remote control / semi-autonomous control is realized.