基于AT89S52的移动机器人控制系统设计 - 南昌航空大学期刊网.PDF

2006 12 () Dec. , 2006 20 4 Journal ofNanchang Institute ofAeronauticalTechnology(Natural Science) o.l 20 No. 4 AT89S52 , , , (南昌航空工业学院, 江西 南昌 330063) [] ; AT89S52; [ ] , , AT89S52 , , [] TP242 [] B [] 1001- 4926( 2006) 04- 0064- 04 D esign of control system of m ob ile robot based on A T89S52 PENG Ying- long, XU Y ing, LIANG Jing- qiang, ZHANG Zhong- yu ( N anchang Inst itute of A eronau tical Technology , N anchang, 330063, Ch ina) K ey w ord s: mobile robot; AT89S52; ultrasonic sensor A bstrac t: The structure andworking principle ofmotion control system for a three- wheelmobile robotwas introduced in this paper. A method ofhierarchical controllingwas used. AT89S52 was adopted as core - controller of on- board control system. The designing of hardware and softwarewere introduced. The expermi entproved that the system couldworkwell and satisfy the need ofmobile robot. , , , 1, 1, 2 ,, 3,, , 4,, ,, PC, ATMEL AT89S52,, 图 1 移动机器人的本体结构 1 , [ 1] [2] , 3, 3, , 2 图2 移动机器人的控制系统结构框图 [] 2006- 11- 10 [] ( 1981- ), , : 4 : AT89S52 65 , () , , PC, PC AT89S52,,, ,, , , , , , , , , , 2 ,, [3] ATMEL AT89S52 8KB Flash , 8 CPU F1ash, AT89S52, ,, : 2. 1 , 8, 5 1 1, [ 4] 8, , 3 , 40KHz,, ,, 2 (T2EX /P11), T2, 图 3 声波测距模块的构成 2. 2 2, , ,, , , 2 ULN2003A