Research On Control System Of Navigation Mobile Robot Based On ARM

With application of new arithmetic and development of electronic technologies, mobile robot is developing towards high speed, high accuracy, open-architecture and intelligence. It also puts forward higher demands on mobile robot control system. In order to realize the high-speed and high-accuracy location-control and trajectory tracking, mobile robot must rely on advanced control tactic and excellent motion control system.Navigation is one of the most challenging abilities required by mobile robot. Successful navigation depends on success of the modules: perception, localization, cognition and motion control. Based on requirement of the subject "bionic navigation system", this paper selects "Master Controller, Motion Controller, Internet and Wireless Remote Control" form to realize design of navigation mobile robot control system. Transmission architecture of the navigation mobile robot is analyzed firstly, and then kinematic model of the robot is set up. Finally, design procedure of the control system is introduced in detail, including requirement analysis, partition of function modules, and design of the hardware and software. In addition, basic research is carried out for wireless communication and internet communication and relative software is also developed.Hardware of the control system consists of main controller unit based on LPC2138, motion controller unit based on HCTL-1100, photoelectric isolation unit based on 6N137, power amplifier unit based on LMD18200, interface circuit unit with sensors and PC wireless transceiver circuit unit. As for software, the real-time operating systemμC/OS-II is adopted, which is a multitask core and can organize all of the system hardware resources to operate harmoniously, improves real time and reliability of the robot control system. Wireless communication, Internet communication and user-friendly interface on upper computer allow users to observe and control the robot directly, conveniently and remotely.Development of the navigation mobile robot control system provides a good experimental platform for performance testing of biomimetic sensor, and its feasibility is proved by experiments, the test results indicate that all parameters and functions of the system satisfy the design requirement.