Research On Control Methods And Software Of Autonomous Cleaning Robot Based On μC/OS-Ⅱ

Autonomous Cleaning Robot (ACR) belongs to intelligent mobile robot, which serves indoor floors, and can sweep majority of the floor without human's help. It is involved with multiple disciplines to research and develop ACR. We select a low cost scheme, in order to develop a sort of commercial robot orienting to commonalty. This research of the thesis is carried on based on the current hardware platform, includes the following parts: Design the driver of hardware module. Research the principle of the embedded real-time operating system:μCOS-Ⅱ, and transplanting it to the MCU. Sum up the control framework of the robot, research the method of robot-control and path-planning based on behavior, and design its controlling flow chart and program. Model the Finite State Machine (FSM) of the system, which is implemented based onμCOS-Ⅱ. And wireless communication function with PC RS232 is extended. The paper is divided into six chapters to expatiate the content.Chapter One: Firstly introduces historical development of robot, functional characteristics and system composition of ACR, then discusses the present situation of mobile robotic technology, and the use of embedded computing system in robot system design.Chapter Two: Introduces two method of embedded software design. Then discusses the principle of multitask managing and scheduling inμCOS-Ⅱsystem. At last discusses the transplanting ofμCOS-Ⅱunder ICCAVR compiler.Chapter Three: Comparing with other robot system scheme, discusses MCU interfaces, implementation of each module, and designing driver program. Introduces a wireless communication module which is involved in the design of hardware, software, and communication protocol.Chapter Four: generally discusses the control framework based on current platform, analyzes the method of localization and factors influencing localization precision. Then discusses the control flow, and program designing based on behavior. At last discusses a new method of indoor robot's path-planning.Chapter Five: Firstly introduces the theory of FSM, and model the FSM of the robot. Then discusses the model's key factors: state and the tasks running under the state, events, convert output. At last, discusses the method and program flow of implementing the FSM model, using the state-table and state-monitoring task, and synchronized mechanism inμCOS-Ⅱsystem. In the end of the paper, all the work in the research course is summed up, and some advices are brought up for the following work.