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�������պ����ѧѧ�� 2005, Vol. 31 Issue (07) :775-779    DOI:
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����1, ���¾�2, ������1, ����1*
1. �������պ����ѧ ��е���̼��Զ���ѧԺ, ���� 100083;
2. �������պ����ѧ ���˼�ʻ����������о���, ���� 100083
Embedded autopilot design of micro-robots
Wang Song1, Li Xinjun2, Liang Jianhong1, Pu Li1*
1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China;
2. Research Institute of Unmanned Aerial Vehicle, Beijing University of Aeronautics and Astronautics, Beijing 100083, China

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ժҪ �����˲�ͬ����΢С�ͻ����˶��Լ�ϵͳ�Ĺ�������.�����һ�ֻ���ARM(Advanced RISC Microprocessor)��μCOS-II��Ƕ��ʽ�Լ�����Ʒ���,�����˴����������������ơ��ṹ��ơ�Ӳ����ơ������Ƶ�ϵͳ��ƹ���,���ֱ��������������Լ��ǵ�ͨ���Խ�����̽��.��λ�����ϵ�ṹ��ģ�黯��Ӳ�����ṹ��������Լ��޾�ȷģ�͵�ģ�����Ʒ���ʹ����Ƴ����Լ��Ǿ����򵥵�Ӳ���������������,���������ڷ��������㡢�Ĵ������ˡ�С�����˻��Ȳ�ͬ��΢С�ͻ�����ƽ̨.�������������֤,���Լ��������ȶ�������һ����ͨ����,�ֲ���ר���Լ����ڶ�Ԫ�칹Ⱥ����Ӧ��ʱ�ijɱ��ߡ�Э���������ѡ������Ժ�ά���Բ�Ȳ���.
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Abstract�� The autopilot requirement of different micro-robots was analyzed. A method of autopilot based on advanced RISC microprocessor (ARM) and μCOS-II was put forward. The design process was presented from requirement analysis, function design, system structure, hardware design and software design, to control algorithm, and the autopilot for all-purpose was discussed from each aspect above. The autopilot adopted hiberarchy structure, modular hardware and structured software, and fuzzy control method needless of accurate model, which made it easy to apply to bionic fish robot, tracked mobile robot and micro unmanned vehicle after simple hardware adjustment and software customization. The autopilot was validated that it has the advantage of stabilization and currency through experiments. The autopilot makes up for the shortage of high cost, control difficulty and bad compatibility and maintenance while it was applied to the multiple and isomeric micro-robots swarm.
Keywords�� embedded systems   fuzzy control   autopilot   micro-robots   generalization     
Received 2004-10-30;

���������о���Ŀ(J1300C1004); ����863����������Ŀ(2004AA420110)

About author: �� ��(1979-),��,����פ�����,��ʿ��, wsongking@126.com.
����, ���¾�, ������, ����.΢С�ͻ�����Ƕ��ʽ�Լ������[J]  �������պ����ѧѧ��, 2005,V31(07): 775-779
Wang Song, Li Xinjun, Liang Jianhong, Pu Li.Embedded autopilot design of micro-robots[J]  JOURNAL OF BEIJING UNIVERSITY OF AERONAUTICS AND A, 2005,V31(07): 775-779
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