Research And Development Of Racing Wheeled Mobile Robot System

The racing wheeleded mobile robot is one of the important subjects in mobile robot system's research. With continuous development and innovation of computer technology, electronics, automatic control technology, artificial intelligence technology, the research of mobile robots comes to a new level. The design and development of the mobile robot is challenged with the advanced artificial intelligence techniques and pattern recognition technology's application. The system design and the parameters'analysis and experiment are taken for the racing wheeleded mobile robot system.The establishment of racing wheeleded mobile robot system's basic structure, mechanical system and power, control system information collection and processing is taken by the research and analysis of the wheeleded mobile robot racing system's theory.The racing wheeleded mobile robot mechanical system has been designed, it includes the power supply system, the base, the forward-looking sensor and the dynamic system. The main parameters are determined by the establishment of the robot dynamics and kinematics model.For the established racing wheeleded mobile robot mechanical systems, the H8/3048 microcontroller is used as the core control system. The recognition based on infrared sensing path is used as the system input, the DC motor PWM control signal is used as the system output and the PID control theory is used to establish the racing wheeled mobile robot's stable closed-loop control system.The mobile robot system's programing and stable, reliable and fast operation are taken by the platform of renesas MCU and established racing wheeled mobile robot system. The average speed of 3 meters per second can be reached for the racing mobile robot, a variety of straight track, curve, 90°sharp turns and change lanes of the system can be achieved, and the national second prize are got in the 2010 Smart Car Contest Renesas MCU sponsored by the Ministry of Education.