The Control System Designning Of Wheel Mobile Robot

Taking the independently developed mobile robot as studying object, the kinematics model is deduced, computer control system is developed, sensor measuring and signal processing are investigated by experiment with computer technology, sensor measuring technology and signal processing technology. The following researchs are included in the article:(1) The theoretical kinematics model is set up by dead reckoning to the two-wheel-differential-driving mobile robot, which established the base for following movement control.(2) The construction and integration of the sensors and computer control system are researched, the combination control system are developed, which including PC/104 embeded industrial computer and PMAC2A-PC/104 motion control card. The extended peripheries are be charged by the embedded industrial computer,while the robot motion are charged by the motion control card. Both of control system are running at the same time,so the rapidness of the robot are developed.(3) The Anti-pusle Average Filter,Median Filter,Adaptive Filter are used to process the signal of the gyroscope, though the comparison, the Adaptive Filter is the better filter. The White noise is decreased and the precision is increased by using the Adaptive Filter.(4) The parameters of the electronic compass are analysed. The electronic compass demarcating experiments are done, after the demarcation, the precision are increased and the repetition is guaranteed. The Anti-pusle Average Filter,Median Filter,Adaptive Filter are used to process the signal of the electronic compass, the experiments shown that the Median Filter has better performance,such as fast response, strong anti- disturbance etc.(5) The new robot control system is designed and developed.The Real Time Operating System-μC/OS-II is used to manage multi-tasks,so the robot control system can be swithed between the Single control system and combination control system,furthermore the system hasthe malfunction warning and trouble shoting function.So the extension of the robot program is extened,and the robust and redundancy of the control system are increased.