Research On Motion Control Of Mobile Robot

Recently, mobile robot is one of important fields of robot research. It has a wide range of applications. The motion control is hard core of mobile robot system and has a vital influence on smooth running of robot. Now, it asks a higher and higher request for motion control system while developing of application and technology. So, it has a important sense to study and devise a precise,real-time and opening motion control system.The paper choose 3-wheel robot (two deriving wheel on back and one universal wheel on front) as research object and study kinematics model. After that, we choose high-performance ARM9 processor S3C2410 as central processor to devise system platform based on demand. The Flash,SDRAM,keyboard,LCD,Internet and other peripheral function devices are added to the system. The motion control part choose L298 as deriving chip for DC motor and select strategy of double-loop (inside current loop and outside velocity loop) and PID algorithm (Integral separation). The paper also describe selecting of the hardware, the performance parameters,hardware pins,register parameters and design the interface between various hardware.Embedded Linux is adopted as operating system and boot program,reduced Linux and file system is transplanted to the target board. DC motor device driver program,current loop control program,velocity loop control program and PID algorithm (integral separation) is designed based on the target board. It achieve the precise,real-time control on motion.Experiments proved that the system can achieve the desired functions and have good stability and prospect.