| The development of planet explorer was a complex systemic project which involved many techniques of different areas. Obstacle automatic for driving system of planet explorer was one of the most important technologies. This paper was to give a primary development of the technology.On the basis of summarizing the development of driving system of planet explorer, the paper has designed a kind of driving wheel with simple structure, and realized rotation control using differential speeds method. According to the technical indicators for driving system of planet explorer, driving motor of maxon, motor controller and reducer were chosen, as well as PC104 to construct the embedded hardware platforms of obstacle avoidance system. System of power supply was also designed.For driving system obtaining environmental information in unknown circumstances and testing avoidance on the ground, hardware circuit and software of multi-channel ultrasonic distance acquisition module was designed based on DSP TMS320F2812 in the paper. And the least square method on the relative error was adopted to improve the accuracy of distance data collected.The paper emphatically designed obstacle avoidance algorithm of the driving system in the unknown environment using the behavioral control viewpoint and the fuzzy control method applied. And basic behaviors such as the goal-trending behavior, obstacle-avoiding behavior were designed in avoidance algorithm. Two decision-making methods of arbitration mechanism and fusion mechanism were proposed to cope with decision problem in the course of obstacle automatic of driving system followed by simulation results which proved the validity of presented algorithm as behavioral control structure with realizing in Matlab environment. In order to further verify obstacle avoidance algorithm, avoidance simulation platform in unknown circumstances has been developed using the Visual C + + and Matlab programming ideas mixed.On basis of kinematic analysis for driving system of planet explorer, simplified model of driving system was put forward. Control platform of testing for driving system was designed, and then stability and flexibility of driving system can be carried out to be tested. Finally obstacles autonomy avoidance tests for driving system have been done in the obstacle environment. The results showed that test was agreed with simulation process and verified the validity of avoidance algorithm designed for driving system of planet explorer. |
