| The mobile robot designed in this project, mainly focused on motion control which is a part of physical and mechanical design, is the next object in robot research. Its wild application raises worldly attention and will be applied in various industries. The design in this thesis emphasizes on the physical and mechanical theory and development on the motion control of wheeled mobile robot. The double wheeled mobile robot is on the basis of the previous design at home and abroad, researched and designed in order to make the mobile robot miniaturization, intelligent, and refinement.In respect of hardware control, this design analyzes the motion theory of mobile robot in light of mechanical motion principle. The micro controlling integrates circuit, mainly with ATmega8 of AVR series single chip, is used to enforce the function peripheral circuit of ATmega8 and each functional module. Its principal functions are various: the realization of barrier-avoiding capability, which is under the help of remote UML module and short-range infrared thermograph inspection; the realization of drive for the rear wheels by BS42HB33-01 with the combination of L298N driving chip, to meet the requirements of each functional module and motions; the speech reorganization module, which facilitates man-machine conversation; serial port temperature test module, which helps the mobile robots avoid the environment in case of large-range fluctuation rises; the power supply module, which facilitates the realization and debugging of system functions.As to software, the project, combining the design of UML, brings about the idea of unit-design of software and hardware. The layer structures in this design are divided as data-collection layer, low-level drive layer, data-process layer, and function application layer.The mobile robot control system is featured by small size, powerful functions, flexible cutting, and convenience. In the final debugging, the system completed the preset task in a satisfied way. |
PDF Full Text Request