Research On Mobile Robot Navigation Based On ARM

Mobile robot is an important branch in the field of robotics across the computer, automatic control, mechanical, electronic and other disciplines. Today, more and more mobile robots have been applied to automatic material transmission, automatic operating under dangerous situations and services. These applications propose higher requirements in mobile robot autonomous navigation of environment perception and understanding, path planning and self-positioning. This paper is to about avoidance and navigation study and the core of the controller board computer is Samsung ARM9 S3C2440.The main work and achievements in research are as follows:(1) Description of the development of mobile robots at home and overseas and varieties of robot navigation methods.(2) Descriptions about the system architecture and its minimum core processor system, and precautions during the PCB production.(3) A distributed ARM9-based ultrasonic detection system has been developed. The detection system is consisted of control module based on sensors mode and intelligent ultrasonic ranging module array. ARM9 controll three ultrasonic sensors to complete the pre-processing of ranging information and realize the different control strategies according to parallel packet working which is to improve real-time of the detection system.(4) Cross-platform remote control software based on multi-tasking whichi is high performance, high efficiency has been developed. Embedded Linux operating system has been transformed by reducing the Linux system kernel to improve the efficiency of the software. This paper describes three types of Linux-driven and focuses on the serial driver and application used by the system.(5) The fuzzy control algorithm has been used to solve the mobile robot navigation problem. A three-input and single-output fuzzy navigation controller has been designed by simplifying the control system structure. In the end the paper, the fuzzy control algorithm was simulated by Matlab to prove the feasibility of fuzzy control in navigation.