| Along with the development of science and technology, mobile robots are widely used in areas such as aerospace, military, exploration, rescue activity, industrial manufacturing, service and entertainment, etc. It is necessary for further research in many aspects since it covers wide areas and faces complicated environment. In this thesis, the line-tracking of indoor wheeled mobile robot is emphatically discussed. The main study contents and achievements of this thesis include the following sections:(1) To study the line-tracking of wheeled robot, the functional requirements of the robot are analyzed, the wheeled mobile robot mechanical structure is designed on the basis of demand and two appropriate drive motors are selected. Meanwhile a corresponding motor driving circuit is designed and produced.(2) To solve the line-tracking problem of the robot, the movement characteristics, sensor technology, navigation and other key technologies of indoor mobile robot have been deeply researched. The implementation formed by infrared photoelectric sensors and encoders are selected, and the corresponding circuit is designed.(3) To fill the requirements of robot line-tracking, line-tracking plans has been studied, and in light of the special circumstances of this robot, ARM7 chip has been chosen as the control chip, the robot line-tracking has been achieved through multi-sensor information fusion.(4) The combination of infrared distance sensors and contact switches are selected made the robot a certain ability to avoid obstacles. |
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