Research On Control System Of Intelligent Mobile Robot

As the third generation of robot technology, the intelligent mobile robot has been the typical carrier of the fields of mechanics, electronics, computer science and artificial intelligence, etc. With the coming of the information era and the boost of the"third industry", the advanced intelligent mobile robots have been widely used in manufacture, scientific research, military, service and entertainment. And it has a tendency of being a part of people's daily lives. Consequently, intelligent mobile robots are of great value both in military and commence, and have a promising future.Having referred to the latest studies and models in robots'technology area, this thesis tries to devise a systematic intelligent mobile robot project corresponding to the experiment and practical use, as well as building a robot control system with visual-feedback navigation. A novel C/S communication mode is proposed which is three-layered: PC mainframe, mainframe sender and robot executant. This mode makes it possible to disassemble the function of the system, and makes the system much more flexible.This thesis develops an embeded control system, utilizing traditional four-wheel coach of Aleman turning as the robot mechanical platform and TI Corporation's MSP430F149 MCU as the core. Meanwhile, a real-time motion control frame for robots is provided combined with visual feedback on the basis of certain models on motions and has a feature of low-cost, low energy consume. This thesis designs and realizes robot construction design, visual navigation system, motion execution system and information system. In particular, put an emphasis on the software and hardware system of the embeded control system which solved the technical and cost problems. On the basis of the software and hardware system, this thesis gives an instant algorithm based on the image segmentation and propses a real-time control and navigation method on the control model.Experiments prove that the model satisfies the function and time requirements of an embeded control system. The algorithm realizes the non-holonomic control of this system and is easy to be utilized with high efficiency and. In the last part, this thesis makes a conclusion and expectation on the future developments of intelligent mobile robot control system.