| 摘 要: MCU端软件结构设计质量是影响循迹机器人工作效率、适应突发任务变更和异常状态能力的重要因素， 但目前普适性的改进手段不多。本文通过遥控竞赛机器人任务特征分析，设计基于位置关联的控制设备与机器人间通讯 协议，使用链表进行任务节点的封装和序列构造，最终基于位置信息实施控制流程。结果表明，任意给定任务序列能够 准确实现。相对顺序式控制流程，该软件结构和关联流程设计在路径优化的同时还能适应任务序列的重整定。 |
| 关键词: 循迹机器人；任务序列；软件结构 |
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中图分类号: TP249
文献标识码: A
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| Design of Task Sequence Optimization Software Structure for Race Robots Based on Position Association |
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XU Wen
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( Zhejiang Technology Institute of Economy, Hangzhou 310018, China)
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| Abstract: The design quality of MCU software structure is an important factor affecting the working efficiency and adaptability to unexpected task changes and abnormal conditions of the tracking robot,but there are few universal means to improve it now.By analyzing the task characteristics of the remote-control race robot,the communication protocol between the robot and the control device based on position association is designed,and the task nodes are encapsulated and sequenced by the linked list in this paper.Finally,the control flow is implemented based on the position information.The results show that any given task sequence can be accurately realized.Compared with sequential control flow,the software structure and associated flow design can also adapt to the task sequence reconfiguration while optimizing the path. |
| Keywords: tracking robot;task sequence;software structure |
