Research on the configuration method of mobile robot and its realization

摘要

The development mode of robotÿs control software has a close relationship with its operation management, dynamic reconfiguration, online optimization and other demands. Through taking control strategy realized by graphical configuration method as research object, industry automation universal technology platform (IAP technology) was adopted to build a technological environment used for mobile robot's control strategy configuration, which is based on graphical control configuration, visual computational process and component-based control algorithm. The algorithm principle and application method of several control configuration components are introduced in detail. And then, the enforcement mechanisms of relevant configuration components are verified through the design, development and test of mobile robot's obstacle avoidance strategy. Several experimental results show that IAP platform technology can be applied in robot's control field. Its graphical configuration components can largely reduce the complexity of developing robot's control software and improve the capability of real-time monitoring of robot's motion process.