Volume 31 Issue 07
Jul.  2005
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Wang Song, Li Xinjun, Liang Jianhong, et al. Embedded autopilot design of micro-robots[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 775-779. (in Chinese)
Citation: Wang Song, Li Xinjun, Liang Jianhong, et al. Embedded autopilot design of micro-robots[J]. Journal of Beijing University of Aeronautics and Astronautics, 2005, 31(07): 775-779. (in Chinese)

Embedded autopilot design of micro-robots

  • Received Date: 30 Oct 2004
  • Publish Date: 31 Jul 2005
  • 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.

     

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