Design And Research On The Control System Of Wheeled Mobile Robot

In view of the Architecture of Wheeled Mobile Robot, this paper emphasizes on the design of hardware and software platform based on control system. Firstly, A whole control model is given after analyzing the wheeled structure with nonholonomic constraints and the model of DC servo-motor building. Secondly, We develop a motion control system using AT90S8515 microcontroller. A closed Pulse Width Modulation(PWM) regulating speed system for DC servo-motor is presented, it is composed of AVR microcontroller, PWM power driver, unit of speed detection using encoder and a serial communication interface, etc. Fuzzy PID algorithm is employed to control the speed and position of WMR. The method can solve effectively some problems such as the uncertainty of WMR's model, the varieties demand, the change of situation. Program is wrote in ICCAVR C language and debugged in AVR Studio with ICE200 simulator. The control system of wheeled mobile robot has good performance. Simulated result and practical performance both approve the validity of design. At last, we study on robot path planning for an approach to find out a perfect path in a certain map using a heuristic search algorithm.