Study Of The Mobile Robot Control Platform Based On Real-time Operating System

Intelligent mobile robot is an important branch in technological field of the robot. It refers to sensing technology, control technology, information technology, mechanical technology, electronic technology, computer technology etc. More and more various kinds of mobile robots have been used in many different fields, such as military robot, medical robot, assistive robot, cleaning robot, various kinds of entertainment robots etc.We design a new mobile robot platform independently based on Pioneer II which is also a mobile robot platform. The preliminary research is done on fusion of data of Multi-sensors based on our platform. The thesis mainly includes two parts: design of mobile robot platform and research of obstacle-avoidance based on fusion of Multi-sensors data.In overall design of mobile robot platform, this paper introduces all parts of the mobile robot, which includes Decision-making system, Wireless communication system, Motion Control System, Ultrasonic Ranging Module System. The thesis mainly focuses on the design of hardware and software. The design of hardware mainly includes two parts. The first part is car system based on LPC2292, which is the main controller of mobile robot. And the second part is remote control system platform based on S3C2410, which is the MCU of the experimental box. Car control system mainly includes three modules which are the module of step motor driver, the module of collecting ultrasonic sensor and the module of communication. The design of software includes three parts. The first part is to receive and send of Multi-channel ultrasonic signal. The second is to embed the real-time system calledμC/OS-Ⅱin the LPC2292, and then receive and send the data from ultrasonic sensors, and at last receive the command from the platform of remote control system and control the motion of mobile robot. The third part is to embed Windows CE in the S3C2410, and then realize the function of receiving ultrasonic data and sending command. In addition, we integrate the data from ultrasonic sensors by fuzzy algorithm and then realize the function of obstacle avoidance.In the final of the paper, the research and result are summarized. And the future of this mobile robot's field is described.