Research And Realization Of Autonomous Tracing In Mobile Robot Based On CCD

The research of robot, which includes automatic controller, mechanical engineering, electronics technology and computer technology, is a comprehensive subject. The research work of this field mainly focuses on the structure design, planning, controlling method, modeling and the application of intelligent technology. As an important branch subject of robotics, autonomic mobile robot technology has a long history and will be used widely in future.A mobile robot is one of the robot systems, which can accomplish apperceive outside environment and self-state and move to the object in the environment with roadblocks. Motion control system is the important component of the mobile robot.At present, CCD is one of the most widely used opt-electric detective device, the image acquiring system based on CCD is also widely applied in many fields such as military,aircraft, Medicine, Chem-Engineering.Based on the research of the technology and development of mobile robot, an autonomous tracing mobile robot based on CCD was designed in the work presented here.The motion ability of autonomic mobile robot is determined by its body structure and its motion controller system. In our design, the controller system includes modules such as sensor, power supply, motion control system and so on. The motor and the servomotor can be controlled by DSP with its PWM output module. The system with the key controller of TI Corporation's TMS320LF2407A real-time gathers and processes the black-and-white CCD output video signal. It gets path information by edge detection algorithm. The Palgorithm is utilized on the servomotor and the motor-drive. These can make the intelligent vehicle traveling fast, fluently. The study shows that the design plan has a nice autonomous tracing effect on the black and white (or large color-difference) track.