Design And Research On The Architecture Of Mobile Robot

With the development of the robotics, more and more novel robots are invented and more and more robots are widely used in every walk of life. For its advantage in the field of exploration, military scout, nuclear engineering and so on, mobile robot has attracted more and more attention of researchers and become the core technology of the international competition.Nowadays, the trend of the robotics has two salient features: (l)Its application become more extensive and more kinds of novel robots are invented. (2)The robot's performance improves greatly and becomes more intelligent.As a complicated intelligent control system, the mobile robot has close relation to many technologies such as artificial intelligence, control theory, sensor technology and computer science. This thesis emphasis on five aspects: (1) Design and realization of mobile robot's driving system. (2) Construction of the robot's control system. (3) Basal research on mobile robot's motion control. (4) Basal research on mobile robot's task control. (5) Basal research on mobile robot's remote control.The research and application status of Mobile Robot is firstly reviewed, then several key technologies are be discussed in chapter one. In chapter two, the thesis designs the hardware platform of the mobile robot. In chapter three, four basic architecture of mobile robot is induced firstly, Basing on the discussion, a hybrid architecture based on subsumption architecture is designed; then, the protocol of the module interface is discussed and a wireless-based data transfer is realized, finally, the design of the whole control software is introduced. Chapter four presents a method of mobile robot's motion control. Chapter five presents a method of mobile robot's task control. Chapter six presents a method of mobile robot's remote control.