为实现全向移动平台的智能循迹和避障,设计了一种基于进阶精简指令集处理器(ARM)控制器的全向移动平台智能循迹系统.该系统采用视觉传感器采集路径信息,通过循迹算法获得全向移动平台的移动控制参数,同时依据路径弯曲程度实时地调整移动平台当前运动速度;采用激光传感器进行测距,并对收集到的数据信息进行处理与分析,以实现避障.该设计实现了全向移动平台的智能循迹和避障.试验结果表明,基于ARM的全向移动平台能够沿预设的轨迹快速、稳定地行驶.该设计方案简单、可靠,可广泛应用于智能导航设备.%In order to realize the functions of intelligent tracking and obstacle avoidance for omnidirectional mobile platform,an intelligent tracking system based on advanced RISC machine ( ARM ) is designed. The visual sensors are used to collect path information,the tracking algorithm is used to obtain the moving control parameters of the omnidirectional mobile platform, in addition,the current speed of the mobile platform is adjusted in real time according to the bending degree of path;the laser sensor is used to measure the distance,and the data information collected is processed and analyzed to achieve obstacle avoidance. The design implements intelligent tracking and obstacle avoidance for omnidirectional mobile platform based on ARM. The experimental results show that the omnidirectional mobile platform can move rapidly and stably along the preset trajectory. The design scheme is simple and reliable,and can be widely used in intelligent navigation equipment.
展开▼
