On-board Motion Control System For Mobile Robots

With the development of robotics, robots enter various fields to help people. So their tasks become more complex and need to be done with greater accuracy, and the requirements for real time ability and reliability become stricter. In order to adapt to this trend, at present, design of robotic system is built on deliberative/reactive architecture. This article will illustrate a design of on-board motion control system for mobile robots, which is used in golf robotic caddie based on deliberative/reactive architecture.First, according to the requirements for the robotic system, the mechanism of robotic motion system is designed; the actuators are chosen. Then the circuit and program of on-board motion control system are designed according to the needs, including chief MCU circuit and motor control circuit. After the robots can implement motion tasks, the obstacle avoidance system is devised, using ultrasonic sensors and photoelectric sensors. Finally, the on-board motion control system is applied to the golf robotic caddie to finish the tracking about the golf plays, with the help of the PC and camera. And also intelligent tracking can be accomplished by velocity detection.Robots based on deliberative/reactive architecture do not only possess intelligence, but also have good real time ability. On-board motion control system can implement reactive behaviors, and can effectively detect the obstacles and avoid them in their motion. Also it can send the sensor data to the upper system for the mapping and navigation. The on-board motion control system is a reliable motion platform for the mobile robotic research in my lab.