Research On Track-Following System Based On Wavelet Transform

Autonomic mobile robot is one focus of the robot field.It attracts all scholars' attention. Because it has huge application potential.For autonomic mobile robot, navigation technique of robot is the critical technique. This thesis designed and realized a track-following system cored with 8bit mcu p89c51rd2. In the system, the wavelet transform theory is put forward to study track-following of autonomic mobile vehicle in low contrast surroundings.When all sorts of transducers compared, this thesis chooses infrared reflective photoelectric transducers to compose transducer system of vehicle. Use infrared reflective photoelectric transducers to detect obstacles around the vehicle. Meanwhile, the output signal of transducer is faint signal with noise, the useful signal in the low-frequency stage and noise in the high-frequency. So, this thesis applies wavelet transform to process the signal. This thesis intends to realize the intelligent navigation and track in low contrast or obstacle surrounsings.As to hardware, this thesis designs the hardware circuit with the MCU of singlechip. The carrier construction, collective design of control system, choice of drive motor of track system are depicted. And main circuits are analyzed and designed: AD circuit, motor-driving circuit, signal-processing circuit, keyboard-input circuit, interface circuit of MCU and LCD. Finally, simplify the wavelet transform theory and introduce realization process of the theory with singlechip language. Thus wavelet theory is working in track-following in deed. After the design , the task is achieved. In many surroundings, the track system is tested and gets a satisfied effect. That is, the track precision after wavelet transform in software is improved greatly.