A Wall-climbing Robot Platform With ARM Embedded System

According tothe character of the mobile robot obstacle avoidance,a method of dynamic obstacle avoidance based on neural network was presented.As the robot application range extends constantly,its working condition is getting more complex,which is always unknown,dynamic and unstructured.Through exploring the behavior based robot control technology,the intelligent avoiding barriers control system design of an autonomous mobile robot is presented.Considering the characteristic of the wall-climbing robot and its work environment,This paper describes a wall-climbing robot platform built entirely from commercial component s。We use an ARM pro2cessor LPC2214 to design the control system because of it s high - speed performance and it s low power consumption。A supervisor PC system are implemented to facilitate vision - based multiple robot coordination。The design explicitly aims at enabling research in robot navigation,multi一robot coordination, and distributed robotics。Future research directions using the mobile robot platform are outlined。The robot system application of ultrasonic sensors, pressure sensors, sensor acquisition close to the external environment.By RS485 Bus climbing robot communicate with computer , realizing the scene of information feedback and sending the computer control order。In software system,μC/OS-II is selected as the real time core. This core is designed for real time multi tasks, its high efficiency and low hardware cost has beenwidely used in most embedded application. This core can manage 56 tasks at the sametime, in most application this is enough. The portedμC/OS-II, which supports contextswitch, priority change in interrupt service routine, can run on LPC2214。To improve the speed and effective obstacle avoidance of Wall-climbing robots and reduce the amount of computation and ensure the rapid decision-making ,this paper base on the grid of the path planning algorithm, the core idea of the algorithm is similar to traverse search of the plan, given from the starting point of departure, according to a search in order to map the course of all the grid. At last, many experiments have been done about this pneumaticand flexible robot. Finally the aerodynamic wall-climbing robots were studied, for the algorithm robots will be done during the campaign of steps.The test shows that linear and wheel movement of thisrobot on the wall can be realized and suction is reliable.