The Design And Implementation Of Motion Controller System Of Autonomic Mobile Robot

The research of robot, which includes automatic controller, mechanical engineering, electronics technology and computer technology, is a comprehensive subject. The research work of this field mainly focuses on the structure design, planning, controlling method, modeling and the application of intelligent technology. As an important branch subject of robotics, autonomic mobile robot technology has a long history and will be used widely in future. Based on the research of the technology and development of mobile robot, a two-wheel differential driving mobile robot was designed in the work presented here.The motion ability of autonomic mobile robot is determined by its body structure and its motion controller system. In our design, the controller system includes modules such as sensor, digital compass, power supply, executive mechanism, motion control system and so on. The motor can be controlled by 68HC08GP32 with its PWM output module. By communicating with navigation system through standard UART, the motion controller system can both receive motion instructions and send orientation information.The identity of location and position is a fundamental problem of the navigation of mobile robot. In this paper, based on the research of two-wheel differential driving mobile's motive equation and the information provided by inner sensors, a compact and practicably equation was induced. This method can be used in a high performance micro-controller to perform real-time calculation and will show its efficient advantage.As one kind of intelligence control technology, fuzzy technology can do well on the objects which mathematic model was hard or eventually impossible to set up. The keys to use fuzzy technology in a normal digital micro-controller are programming and preprocessing, so the volume of RAM and the executive speed must be considered in the design.