非结构化环境的移动机器人作为一个复杂系统,囊括了多电机驱动控制、多传感器信息采集融合以及信息传输等技术,通常具有体系结构不明显、布局混乱、通讯实时性差、可扩展性差等缺点,极大地制约了移动机器人智能化的发展和工程应用；该文介绍了一种基于CAN总线、模块化的分层混合式机器人控制系统的设计方法,并给出了硬件、软件上的具体设计与实现,根本上解决了上述缺点,并且成功应用于工程项目中,能够满足高辐射环境下的设备检查任务要求.%As a very complex system in an unstructured environment, a mobile robot which includes such technologies as multi - motor drive control, multi-sensor information fusion and information transmission has many defects such as not-shown system structure, confusion of the layout, poor communication in real time, poor scalability. These defects greatly restrict the development of intelligent mobile robots and engineering applications. This paper presents a CAN bus based, modular, hierarchical hybrid robot control system design method. And it gives the hardware and software on the specific design and implementation, a fundamental solution to the above-mentioned shortcomings, and successfully was applied to engineering projects to meet the high radiation environment equipment inspection task requirements.
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