中文摘要：

蛇形机器人具有很高的运动稳定性和环境适应性,非常适应于不确定性及复杂的环境中工作,如地震救援、火灾以及其他自然灾害等等.该文研究了一种正交模块组成的蛇形机器人,采用PXA270芯片作为主控制器和AVR128单片机作为从控制器,实现了主从分布式控制.在简化的Serpentine曲线基础上,研究了由离散关节组成的蛇形机器人控制,最后得到机器蛇运动时各个关节电机相应的旋转角度和旋转速度,并通过安装超声波传感器测距实现了自主避障.实验结果表明方案是可行和可靠的.

英文摘要：

Snake-like robots has high motion stability and environment adaptability,which made it adapted to work under uncertain and complex environment,such as earthquake rescue,fire and other natural disasters.The paper first focus on an orthogonal joints snake-like robot,using the PXA270 microcontroller as the master controllers and AVR 128 microcontroller as the slave controllers to design the master-slave distributed control system for snake-like robot.Then research on the control function of discrete joint base on simplified Serpentine curve,finally we got the relationship between the control parameters with the motor corresponding rotation angle and rotation speed.Moreover,the autonomous obstacle avoidance is fulfilled by mount ultrasonic sensor.Experimental results demonstrate that the proposed scheme is feasible and reliable.