Design Of Motion And Control System For The Wheeled Mobile Robot

Along with the quick development of computer performance ? communication level and transducer technology all over the world,exploitation and application of mobile robot has been gong deep into many fields,such as military,industry and agriculture.Wheeled mobile robot attracts attention of many researchers at home and abroad duo to its rapid movement,smooth motion and better adaptive capacity.Wheeled mobile robot is a man-machine interaction and high density carrier which could perceive of external environment,control algorithm,actuate and execute.This paper chooses wheeled mobile robot as the research object,and makes deep analyze and design to motion control system.Wheeled mobile robot is programmed modularity by three-level hierarchical control scheme.It makes STM32 as the core of system control and chooses AVR as the core of motor driver,as the same time,it uses digital transmitter-receiver and RS422 bus as embedded control system.Inside of this system,Human Interaction Component is the level of organization,core controller is the level of coordination,and motor driver is the level of execution.This paper concludes several parts:First of all,it makes a choose and introduction of main parts to mobile robot designed in the paper,which accords to the requirements of mechanical structure and movement control system of mobile robot;Secondly,this paper makes design and analysis of movement control system circuit of controller module,sensor module,motor drive module and source module;Thirdly,the mechanical structure of four-wheel mobile robot uses electronic differential steering principle to model its kinematics,and takes precise control to each wheel speed of mobile robot by using Incremental PID algorithm which based on encoder;Fourthly,this paper makes a introduce to the development environment and software process of core controller,motor driver and other independent modules,and also stipulates to the communication between the various modules format;Finally,this paper makes installed experiment according to the design of motion control system.This control system has high reliability and stability after analyzing mobile robot operation and monitoring data.Each module can achieve expected design requirements,and this system can be used as analog and digital electronic technology,measurement technique,fundamentals of mono-chip computers,automatic control technology,multi-disciplinary multidisciplinary cross experiment platform,it shows formidable expansion capability which iseasy to develop secondary.