基于GPS的循迹机器人控制系统设计
息，实现循迹过程中的电机控制。
关键词 移动机器人 循迹 GPS PID毕业设计说明书（论文）外文摘要
Title Title Title Title Design of tracking robot based on Global
Positioning System
Abstract Abstract Abstract Abstract
Intelligent mobile robot can assist human beings of accomplishing specific
tasks or even take the place of human on many different occasions.It
occupies an irreplaceable position in a number of areas,such as
industrial,military,and scientific research.Among all the technology of
intelligent mobile robot,navigation and positioning is the most important
part.The accuracy and stability of navigation and positioning is the basis
of the operation of robot. Th is thesis is mainly about a GPS-based tracking
robot.The main contents and achievements are as follows:
(1)Analyzed the pros and cons of a variety of navigation and positioning
systems, detailed the principle of PID control method in path following,
and put forward a path setting method.
(2)Developed a complete independent-tracking robot hardware system ,
including C8051F040 MCU control module, Serial ports module, GPS module,
LCD module, and motor drive module.
(3)Elaborated the composition,positioning principles,and data format
of GPS.Accomplished communication between GPS and MCU via serial
ports.Accomplished the GPS positioning data acquisition and display ， and
achieved motor control in the tracking process.
Key words mobile robot tracking GPS
1 引言 . 1
1 .1 移动机器人研究的背景 1
1 .2 国内外研究发展现状 2
1.2.1 国内外移动机器人研究发展现状 . 2
1.2.2 国内外 GPS 导航定位技术研究发展现状 . 3
1 .3 课题的研究内容和章节安排 3
2 循迹机器人系统总体设计 . 5
2 .1 系统设计方案描述 5
2.1.1 导航方式 . 5
2.1.2 路径跟踪与控制方法 . 7
2.1.3 预定轨迹装定 . 10
2 .2 工作总框图 11
3 循迹机器人硬件系统设计 . 13
3 .1 系统总体方案设计 13
3 .2 元器件的选择 13
3 .3 电路设计 16
3.2.1 单片机最小系统 . 16
3.2.2 航迹装定模块 . 19
3.2.3 GPS 模块 20
3.2.4 LCD 模块 21
3.2.5 电机驱动模块 . 22
3.2.6 硬件整体设计 . 23
3 .3 电路板的制作 24
3 .4 元器件焊接 25
3 .5 本章小结 26
4 循迹机器人系统软件设计 . 27
4 .1 系统程序流程图绘制 27
4 .2 软件结构设计 28
4.2.1 航迹规划装定单元 . 29
4.2.2 GPS 信息接收单元 31
4.2.3 LCD 显示单元 32本科毕业设计说明书（论文） 第 II 页 共 II 页