The Application Of Embedded Linux In The Control Of Wheel Robots

Since 2002, CCTV, Education Ministry and Science & Technology Ministry of China have hold "China University Robocon" for four years. In this paper, the general movement platform of wheel robots is established for that contest.As for contests, the general robots movement platform should be flexible, dependable and easy to port and extend. This paper is organized as following:Firstly, the importance of embedded operating system is introduced. Based on embedded operating system, it is convenient to develop software and hardware separately, manage complex hardware and port control algorithms.Secondly, the design of hardware platform, the selection of CPU and peripheral circuits are described. Extended by CAN bus, the distributing control is realized.Thirdly, the organization and porting of Embedded Linux are shown in detail, such as the establishment of cross compilation environment, the tailor and compilation of kernel, root file setup and design of driver. Then the process of Linux start up and main objects of kernel porting are analyzed.Finally, the movement control algorithms, including moving strictly and turning, of wheel robots is discussed. Compared with former contests of "China University Robocon", the performance of this platform is summarized.