CAJ | 학술논문

研制自动控制移动机器人循迹控制系统,通过感测外界黑色指导线的变化来控制电机的实时变化.考虑了运动过程中会遇到的各种情况,通过训练BP神经网络使微控制器能够根据不同的环境做出快速、正确的反映.采用微控制技术对电机进行控制,使自动和无线遥控兼容.实验结果表明:移动机器人能根据室内黑色指导线的变化情况快速做出反映,有效抑制了移动机器人在运动过程中的出轨和静止现象,证明了提出的基于B P神经网络的循迹控制系统可靠性较高.
연제자동공제이동궤기인순적공제계통,통과감측외계흑색지도선적변화래공제전궤적실시변화.고필료운동과정중회우도적각충정황,통과훈련BP신경망락사미공제기능구근거불동적배경주출쾌속、정학적반영.채용미공제기술대전궤진행공제,사자동화무선요공겸용.실험결과표명:이동궤기인능근거실내흑색지도선적변화정황쾌속주출반영,유효억제료이동궤기인재운동과정중적출궤화정지현상,증명료제출적기우B P신경망락적순적공제계통가고성교고.
@@@@An intelligent tracking control system based on micro-control unit (MCU)was developed to real-time control the mo-tors by sensing the change of the black guide lines. After training the BP neural network,the MCU was able to make quick and accu-rate decisions for various situations encountered during the robot moving. Using MCU technology to control the motors,the system was compatible for both manual and automatic control. The experiment results show that the mobile robot can follow the change of black guide lines accurately and quickly,and stillness and out-of-orbit phenomena are effectively inhibited during moving. The proposed tracking control system based on BP neural network has been verified to be high reliability.