Design Of Mobile Robot Control System Based On DSP And Obstacle Avoidance

Mobile robot is an important branch of robotics. It involves artificial intelligence (AI), intelligent control, information processing, and image processing. It refers to computer science, auto control, mechanical, electronic science. It's one of the key researches on intelligent robot now. Path Planning is a basic and important topic in the mobile robot research. Flexible path planning algorithm is helpful for the robot in various complicated environments, so that the application of mobile robot is extended. Especially, when the robot has the ability to judge the environment, it can finish some orders in an unknown area.The task of this paper is to design the control system of mobile robot and research on the method of obstacle avoiding based on the set of LEGO Technical module.In order to realize the obstacle avoidance with flexibility and celerity, a multifunctional controller is necessary. A DSP chip TMS32OF2407A who have high processing ability is used as the center of the mobile robot controller. The hardware includes outside circuits of DSP, sensors, motor drivers, the human-robot interface, data communication and power modules. Then, the capability of the controller is proved by the function experiment. The experiment results are compared with the theorial analysis.During the period of obstacle avoiding methods, a Virtual Force Field is used to descript the environment condition. A close loop control method is used as the strategy of obstacle avoiding of mobile robot. To test the mobile robot, an experiment is given, and the result is OK.