Research On Control System Of Mobile Robot Based On ARM And μC/OS-II And Path Planning

This research studied the control system of mobile robot based on ARMandμC/OS-Ⅱ, analysised microprocessors and real-time operating systems as well as the feature of ARMandμC/OS-Ⅱcomprehensively. It also analysised the method of controlling mobile robot, and put ARMandμC/OS-Ⅱinto controlling mobile robot.The system makes full use of the advantages of ARMandμC/OS-Ⅱwhich include high performance, low power and low cost .The main task of this project is developping a real-time control platform based on S3C2410X of SAMSUNG corporation, and expending static memory, procedure FLASH,USB interface,SDRAM,FLASHROM,CAN Field Bus and JTAG module on it, and controlling the three wheels mobile robot combined with kinds of sensors. This theses elaborated the transplanting and starting process ofμC/OS-Ⅱon the platform, and gave the transplanting code related to the platform hardware. Researched the path planning of mobile robot and simulated it which based on the method of artificial potential field of genetic algorithm. The control system applied to three wheels mobile robot, and achieved good results.