Design And Implementation Of Motion Control System Of Indoor Intelligent Mobile Robot

With the development of computer performance,operating systems and sensor technology and the growing needs of people for a better life.Intelligent sweeping robots,home service robots,escort robots and intelligent housekeeping robots,a variety of different kinds of indoor intelligent robots have gradually come into the ordinary family.The core of building indoor intelligent robots is the motion control system.Indoor intelligent mobile robot platform is a general platform integrating complex functions such as external environment perception,control strategy and control algorithm,motor drive and regulation.In this design,the indoor intelligent robot is taken as the research object,and its motion control system is analyzed and designed in depth and completely.The overall modular adopted the design idea.It is based on the upper computer running environment,and the motion control module is the core with the sensor module assists to complete the emergency obstacle avoidance and anti-fall functions.The focus of this thesis is in the motion control core and sensor module,which consists of the following parts.First of all,I introduce the main working principle of the system,including the basic structure of the permanent magnet synchronous motor,spatial coordinate conversion,odometer data calculation and the calculation of the two-wheel differential speed control motion model.Secondly,I decide the technical requirements of the motion control system in this design through the system working principle and indoor use environment and then carry out hardware design and analysis of the segmented buck module circuit,power driver module circuit and differential current sampling module circuit.Thirdly,I introduce the development environment and software design process of the motion control core and sensor module in this system.Then I explain the design ideas and implementation process of the software part of this design in detail.The code is used to implement the design of incremental parameter auto-tuning PID control algorithm based on fuzzy control.Finally,the intelligent mobile robot chassis of this design was installed and various functions were verified and tested.Through the testing and analysis of the operation of the intelligent mobile robot chassis,it is proved that the system has high stability and reliability.Then the individual modules were tested and found to meet the expected design requirements.And the whole system provides a reliable motion control platform for subsequent multi-functional indoor intelligent mobile robots which is highly scalable for secondary development later in the system.