Design of distributed control system for mobile robot

摘要

A distributed control architecture was designed and implemented for a mobile robot(IMR01).Laser scanner and multi computer vision system were equipped to detect the environment.A 2-D laser rangefinder Lms291 was adopted to build terrain map through the pitch and horizontal rotation of a sensor platform.An elevation map of terrain was built and used for terrain analysis.A navigation guidance system is composed of fibre-gyro,tilt sensor and odometer.The control system comprises a multiple industrial personal computer(IPC) system with low power-consuming CPU,and has good hardware scalability.Communication between the on-board local network robot and the remote monitor system in laboratory is realized through wireless local area network.The navigation control is implemented with the cooperation among heterogeneous Agents.