The Design And Development Of One Kind Of Wheeled Mobile Robot Control System

This paper summarizes the present research situation in mobile robot flied, and introduces the research background of this subject in the first part. It also describes the main study contents and research work of this dissertation.And then, this paper describes mobile robot's machine construction and motion model. It also deduces the robot motion model through two-wheel separated drive design and demonstrates the control theory that realizes by two wheels with different velocity.This paper analyzes design and development of control system in detail. According to module design style, the control system includes MCU module, obstacle avoidance module, motor drive module, remote control module, power supply module, serial communication module and so on. Besides, it makes a discussion about the hardware design's feasibility and some relative questions.Combined with the difficulty in mobile robot control, this paper emphasizes on the analysis of the fuzzy control system's theory and design, and refers to the specific method for the fuzzy control strategy in the motion controlling application. The last part of this paper makes a summarization of all the work and the prospective of the future job.