多机器人协作系统在FPGA上的构建

张锦辉; 邢晓曼

doi:10.20193/j.ices2097-4191.2025.0116

PDF(9969 KB)

集成电路与嵌入式系统 ›› 2026, Vol. 26 ›› Issue (2) : 34-42. DOI: 10.20193/j.ices2097-4191.2025.0116

第九届全国大学生集成电路创新创业大赛优秀作品专刊

多机器人协作系统在FPGA上的构建

张锦辉 ¹^,² ,
邢晓曼 ¹^,²^,^*

作者信息 +

Construction of multi robot collaboration system on FPGA

ZHANG Jinhui ¹^,² ,
XING Xiaoman ¹^,²^,^*

Author information +

文章历史 +

摘要

针对现有相关研究中鲜有提出适合于FPGA平台的多机器人协作系统通用架构这一研究空白,介绍了一种基于FPGA的多机器人协作系统,该系统以UART通信协议为基础构建了机器人间的通信网络,通过设计的信息传递机制使得FPGA能接收所有机器人的数据并控制所有机器人,同时为应对异常情况,还为系统设计了报警机制和遥控模式。经过实际搭建起多机器人协作系统,并逐一验证其功能,证实了多机器人协作系统设计理念的可行性。

Abstract

In response to the lack of research on a universal architecture for multi robot collaboration systems suitable for FPGA platforms in existing literature, this paper introduces a multi robot collaboration system based on FPGA. The system constructs a communication network between robots based on UART communication protocol, and uses a designed information transmission mechanism to enable FPGA to receive data from all robots and control them. At the same time, to cope with abnormal situations, an alarm mechanism and remote control mode are also designed for the system. After the actual construction of a multi robot collaboration system and the verification of its functions one by one, the feasibility of the design concept of the multi robot collaboration system proposed in this paper has been confirmed.

导出引用

张锦辉, 邢晓曼. 多机器人协作系统在FPGA上的构建[J]. 集成电路与嵌入式系统. 2026, 26(2): 34-42 https://doi.org/10.20193/j.ices2097-4191.2025.0116

ZHANG Jinhui, XING Xiaoman. Construction of multi robot collaboration system on FPGA[J]. Integrated Circuits and Embedded Systems. 2026, 26(2): 34-42 https://doi.org/10.20193/j.ices2097-4191.2025.0116

中图分类号： TP242 (机器人)

参考文献

列表( 原文顺序 | 文献年度倒序 | 文中引用次数倒序 ) 可视化分析

[1]

IRWANSYAH

, O

W IBRAHEEM

, J

HAGEMEYER

, et al. FPGA-based circular hough transform with graph clustering for vision-based multi-robot tracking[C]//2015 International Conference on ReConFigurable Computing and FPGAs (ReConFig), Riviera Maya,Mexico, 2015:1-8.doi: 10.1109/ReConFig.2015.7393313.

本文引用 [1]

[2]

HUANG

, K

WEI

, H

AMANO

, et al. Multi-board FPGA Implementation to Solve the Satisfiability Problem for Multi-Agent Path Finding in Smart Factory[C]// 2022 Tenth International Symposium on Computing and Networking Workshops (CANDARW), Himeji,Japan, 2022:406-410.doi: 10.1109/CANDARW57323.2022.00034.

本文引用 [1]

[3]

潘薇, 蔡自兴, 陈白帆. 复杂环境下多机器人协作构建地图的方法[J]. 四川大学学报(工程科学版), 2010, 42(1):143-148.DOI:10.15961/j.jsuese.2010.01.043.

PAN

, CAI

Z X

, CHEN

B F

. Method for Building Maps through Multi Robot Collaboration in Complex Environments[J]. Journal of Sichuan University (Engineering Science Edition), 2010, 42(1):143-148.DOI: 10.15961/j.jsuese.2010.01.043(in Chinese).

本文引用 [1]

[4]

钱志鸿, 刘丹. 蓝牙技术数据传输综述[J]. 通信学报, 2012, 33(4):143-150.

https://doi.org/1000-436X(2012)04-0143-09

摘要

比较了蓝牙协议各个版本对其数据传输性能的影响，分类讨论了分组选择算法、重传机制、数据传输的干扰及安全等。针对目前存在的问题，提出了引入扩展戈莱编码和最小频移键控(MSK)调制的数据分组改进方案，提高了系统的抗干扰性和吞吐量，并提出了基于信道转换与MSK调制的同频干扰抑制方法，使皮可网的载干比和吞吐量有明显改善，最后总结并对未来工作提出设想和展望。

QIAN

Z H

, LIU

. Overview of Bluetooth Technology Data Transmission[J]. Journal of Communications, 2012, 33(4):143-150(in Chinese).

本文引用 [1]

[5]	贾子申, 李淑清, 王冠雅. 基于FPGA的UART控制器设计[J]. 电子测量技术, 2008(3):82-83,90. JIA Z S, LI S Q, WANG G Y. Design of UART Controller Based on FPGA[J]. Electronic Measurement Technology, 2008,(3):82-83,90(in Chinese). 本文引用 [2]

[6]	聂涛, 许世宏. 基于FPGA的UART设计[J]. 现代电子技术, 2006(2):127-129. NIE T, XU S H. UART Design Based on FPGA[J]. Modern Electronic Technology, 2006(2):127-129(in Chinese). 本文引用 [2]

[7]

赵亮, 冯林, 吴振宇. 基于FPGA的小型机器人无线通信系统[J]. 计算机工程, 2010, 36(13):251-253.

https://doi.org/10.3969/j.issn.1000-3428.2010.13.088

摘要

针对单处理器系统控制的无线通信系统在小型足球机器人比赛中存在丢包现象和实时性差等弊端，提出一种FPGA并行控制无线模块的解决方案，实现全双工通信。包括数据的无线发射、接收以及分包处理等模块，采用有限状态机设计发射、接收部分时序，结果证明该方案实现灵活、稳定性高、实时性好。

ZHAO

, FENG

, WU

Z Y

. FPGA based wireless communication system for small robots[J]. Computer Engineering, 2010, 36(13):251-253(in Chinese).

https://doi.org/10.1007/s00366-018-00699-5

本文引用 [1]

[8]	吴军, 徐昕, 连传强, 等. 协作多机器人系统研究进展综述[J]. 智能系统学报, 2011, 6(1):13-27. WU J, XU X, LIAN C Q, et al. A review of research progress on collaborative multi robot systems[J]. Journal of Intelligent Systems, 2011, 6 (1):13-27(in Chinese). 本文引用 [1]