Research And Application Of Embeded System Based On μClinux In Mobile Robot

The implement of mobile robots needs suitable hardware platform and intelligent control algorithms. And recently the embedded operation system has widely used in many fields, especially the uClinux. This paper is focused on this problem, investigated the design and application of embedded system for mobile robot, including the design of hardware platform, the uClinux transplanting and the drivers program. the thesis also studied move control algorithms for mobile robot.First, the necessity of the embedded system application in robots is researched. The paper firstly introduces the application actuality of robot technology and embedded system, and reach a conclusion that embedded system constructed in mobile robot can greatly separate the design of hardware and software, and can realize the complex algorithms.Secondly, the paper focuses on the hardware design of embedded system for the wheeled mobile robot. The core of embedded system is base on ARM7TDMI processor-S3C44B0X. In this part of the paper, the select of CPU processor, the select of memory and the design of peripheral equipment are recommended.Thirdly, based on the embedded hardware, the transplanting process the uClinux is introduced in particular, including mainly: the design of Boot Loader, the customization and compilation of Linux kernel, the choice of file system and the compilation of driver modules specially the driver module of the realization of UART, FLASH and network.Then the paper discusses the architecture of teleoperation robot based on Web. The embedded system in robot finish the task of data processing and communication, people can make teleoperation through web by the information. This chapter introduces the realization of webserver in uClinux.Finally, This paper presents the control strategy for movement wheeled mobile robots, including straight line movement, curve movement and behavior-based navigation control.