摘要： 介绍了一个以嵌入式Linux系统为核心的移动机器人控制系统的设计与实现，阐述了运动控制与传感模块、主控制模块、人机交互界面和无线通信模块。该系统具有良好的可扩展性和可移植性。在无线通信模块中，集成了Zigbee协议，从而为无线传感器网络与移动机器人的协作性研究提供了可能。实验表明，该系统可以实现机器人的复杂控制。

关键词: 移动机器人, 嵌入式Linux, MiniGUI, 无线传感器网络

Abstract: This paper describes the design and implementation of amobile robot control system based on embedded Linux. The four main modules, namely motion control and sense module, main control module, human-machine interface, and wireless communication module, are discussed. The whole system is easy to expand and port. The Zigbee protocol is integrated into the wireless communication module, which makes it possible to study the corporation between the mobile robot and wireless sensor network. The system is proved to be powerful enough to complete the complicated control of robot.

Key words: mobile robot, embedded Linux, MiniGUI, wireless sensor network

中图分类号: 

• TP302.1