基于LabVIEW软件的机器人避障控制系统设计

Design of Robot Obstacle Avoidance Control System Based on LabVIEW Technology

摘要:

设计机器人避障控制系统，采用传统设计方式存在避障效果差的缺点，为了避免该缺点影响系统控制效果，提出了基于LabVIEW技术的机器人避障控制系统设计。根据控制系统总体结构，采用LabVIEW技术对信息进行综合处理，并汇总到DSP 微处理器模块，从而实现机器人相对定位。依据机器人避障控制系统的硬件结构，进行系统模块化设计，通过单片机执行定时中断服务子程序，以此控制系统电路，并计算出机器人距障碍物的距离。通过RS232 串行通信线缆交换海量数据，以此设计控制器结构，其中上位机直接控制移动机器人，下位机间接控制移动机器人。使用数字控制振荡器可实现高精度参数化调制，进而输出正余弦波形。使用PAR传感器，直接与数字控制振荡器相连，具有随时启动应用的特点，采用TSR传感器可对障碍物静态、动态不同工况下进行数据采集与传输。通过JTAG标准测试协议，用于芯片内部测试，同时隔离逻辑电路和芯片引脚。依据系统软件流程，设计机器人避障功能。由实验结果可知，该系统避障效果最高可达到97%，具有良好应用价值。

Abstract:

When designing a robot obstacle avoidance control system, the traditional design method has the disadvantage of poor obstacle avoidance effect. In order to avoid this disadvantage affecting the system control effect, a robot obstacle avoidance control system design based on LabVIEW technology is proposed. According to the overall structure of the control system, LabVIEW technology is used to comprehensively process the information and summarize it into the DSP microprocessor module to achieve relative positioning of the robot. Based on the hardware structure of the robot obstacle avoidance control system, the system is modularly designed, and the timer interrupt service subroutine is executed by a single chip microcomputer to control the system circuit, and calculate the distance between the robot and the obstacle. Massive data is exchanged through the RS232 serial communication cable to design the controller structure, where the upper computer directly controls the mobile robot and the lower computer indirectly controls the mobile robot. The use of a digitally controlled oscillator can achieve highly accurate parameterized modulation, which in turn outputs a sine and cosine waveform. The PAR sensor is directly connected to the digitally controlled oscillator, which has the characteristics of starting the application at any time. The TSR sensor can be used to collect and transmit data under different conditions of static and dynamic obstacles. Pass the JTAG standard test protocol for chip internal testing, while isolating logic circuits and chip pins. According to the system software process, the obstacle avoidance function of the robot is designed. According to the experimental results, the system's obstacle avoidance effect can reach 97%, which has good application value.