Avoidance System Design Of Mobile Robot

Mobile robot is one of the important directions of the robot research field. Nowadays, with the development of the sensor technology, the auto-mobile robot becomes the hot spot. Auto-mobile robot should avoid obstacles itself. This thesis designs an avoidance system of ultrasonic sensor which can accomplish the mobile robot avoidance obstacles.The ultrasonic sensor works fast and simple. It can accomplish the real time controlling. In this task takes the ultrasonic sensor to detect the environment. The thesis analyses the principle and characteristics of the ultrasonic sensor, studies the principle of using ultrasonic sensor to measure distance and conducts the detecting experiment. Meanwhile, the thesis also makes the hardware designs of the TMS320VC5402 chip, which is the core of DSP control panel, made by TI Company, and gathers environment information by using DSP controls ultrasonic sensor. Finally, the obstacles are recognized by a fuzzy control algorithm. The algorithm also uses to control motion of the robot. It can accomplish avoidance obstacle of mobile robot by itself.The hardware of the circuit and the software with avoiding system is designed in the paper. The software of system has been complemented by the mixed programming method of C and assemble languages under CCS environment. The system is simple, low cost and good real time. The anticipated result has been obtained in the indoor environment. Robots can safely avoid obstacles and arrive at the destination.