Study On Obstacle Avoidance And System Design Of Embedded Mobile Robot

One of present focus research fields is mobile robot which is the important direction of robot research. The traditional mobile robots basically use the special processor and special operating system which can not satisfy the modern robot's development request, with the development of embedded system, the robot with economization, miniaturization and intellectualization is developed.Obstacle avoidance is the important safeguard of safe travel for mobile robot, as well as one of the most important subjects for reasearch . The characteristic and the principle of common sensor which is used for obstacle avoidance and the multi-sensor fusion technology are analysed, at the same time, the obstacle avoidance algorithm is studied in this paper. Fuzzy control and neural network control theories are detailed analysed, which can express the rules that are hardly described by the mathematical model, so they are suitable for the obstacle avoidance control of mobile robot.The embedded mobile robot platform is designed and developed independently, which is based on embedded system, it provides a solution of hardware and software design for mobile robot. The robot platform has the characteristic of Porting and expansibility, and the system of obstacle avoidance is studied in this platform. ARM microprocessor S3C2410 with high advanced capacity is used as the chief chip to design the bottom movement control system. Peripheral circuit and expansion interface are designed, the module of step motor driven is emphatically designed. Based on the robot hardware design, the Porting of Linux operation system is achieved and the driver of step motor is developed. The ultrasonic sensor is used for environment survey of mobile robot and the distance measuring module of multi-sensor which is based on AT89C52 controller is designed, the precision of distance measuring can satisfy the request of obstacle avoidance by carrying on a series of experiments.Finally, Neural fuzzy control algorithm is proposed in this paper, the design and implement of the algorithm is discussed in detail. The accuracy and the validity of the proposed algorithm is proved by the simulation results, the safe obstacle avoidance of mobile robot is realized by transplanting the algorithm into embedded mobile robot system.In the actual test, the design of the mobile robot's platform and the algorithm of obstacle avoidance can rapidly and efficiently achieve obstacle avoidance of robot.