| This thesis presents a modular and hierarchical mobile robot platform, which consists of a set of hardware modules that can configured to construct various types of robot system. The current control system of small mobile robots almost use embedded system technology, so the mobile robot platform combine closely with embedded techonology development. A well-designed small mobile robot platform not only promote the robotics research, but also is a ideal platform for research and verification of embedded technology.This thesis presents a modular and hierarchy design method of robot platform, the system is divided into three levels: the main control layer, the sensor control layer and the driver layer, which carry a variety of communication, sensor modules. According to the modular design, a detailed description of the interface design between the modules is presented. System uses two processors:ARM9 and M16C, and efficient communication between the processors will be the key to improve overall system performance, so the communication protocol between the processors as an important part of the platform is described in detail in this thesis. The platform also includes a monitoring platform running on the remote terminal, communicating with the robot through wireless Wifi. Monitoring platform implements interaction between the operator and the robot remote interaction. Finally, this thesis shows the production of prototype using this design method, and verificate the feasiblity through the expriment of automatic obstacle avoidance function. |
PDF Full Text Request