| The technology of mobile robot is an important branch in robotic research. The applications of robots, from handling material in manufacturing to planetary exploring and energy developing, show that mobile robots are advancing along with the development and progress of mankind. In order to endow robots with capacity of intelligent control and autonomous navigation, and solve the problems such as high cost and large power consumption during robotic developing process, the thesis proposes that utilizing embedded technology develop the control system of mobile robot, the corresponding research contents are as following:Based on embedded control platform the autonomous mobile robot and the control system are designed and developed, the kinematic and dynamic models of robot are deduced according to the designing requirements, then the full mechanical structure is designated, and the making and assembling of all components are completed independently; Taking embedded control system as the foundation and mobile robot as the research object, the hardware platforms of embedded system is designed adopting PC/104 as host controller, which achieves the link among the expand boards, power module, motor driving module, perception modules, the HCI interface modules and so on; Using ultrasonic sensors the indoor ranging positioning system is established, which can achieve some functions such as alarming, obstacle avoidance and the positioning; Wireless communication technology in autonomous mobile robots is investigated deeply, and then wireless remote control and wireless serial communications are realized; All functional modules procedure are programmed and debugged.Finally, overall methods and schemes are verified on mobile robot withexperiments, and the results show that robot runs steadily and the system is feasibleand reliable. |
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