CAJ | 학술논문

　　设计了一种在井下能根据道路情况自主进行运动决策的机器人控制系统。以 AVR单片机为控制器件，利用直流电机作为驱动装置，遇到障碍物能够进行自主决策，实时检测瓦斯浓度，并能超限报警，同时采用无线收发模块将采集数据发送到井下设置的通信节点。该系统具有运动控制稳定、实时通信、自主决策等特点。
　　설계료일충재정하능근거도로정황자주진행운동결책적궤기인공제계통。이 AVR단편궤위공제기건，이용직류전궤작위구동장치，우도장애물능구진행자주결책，실시검측와사농도，병능초한보경，동시채용무선수발모괴장채집수거발송도정하설치적통신절점。해계통구유운동공제은정、실시통신、자주결책등특점。
This paper describes a motion control system of a robot which can make autonomous decision on the basis of path condition in atrocious environment such as mine .The control system uses AVR MCU as the processor ,takes DC motor as driving device . When the robot meets a barrier in running ,it will change the driving direction rapidly and voluntarily .The control system can monitor the gas density real-timely ,and sends acquired data to communication station with wireless transceiver in mine .The system is characterized by autonomous decision ,stable motion control and real-time communication capabilities .