The Research And Implementation Of Self-tracing Robot Car Based On ARM

Self-tracing robot car,which is integrated with embedded system technology,sensor technology,electronic technology,route planning,artificial intelligence and automation technology etc.,had attracted attention of many scientist.Robot car was widely used in automatic driving,anti-terrorism,maintenance of the nuclear power station,detection of unknown region, transportation of unmanned factory.The development of robot control technology will have a profound impact on people's life.By analyzing the current research situation of the robot technology,a self-tracing robot car control system with low-power consumption,high performance was designed,which was based on embedded microprocessor and embedded real time operating systemμC/OS-Ⅱ.The self-tracing robot car included vision subsystem,decision-making sub-system,communication subsystem, execution subsystem and robot car subsystem etc.The development and application of robot car were illustrated,and its architecture was described in detail.The control system structure and mechanical architecture of self-tracing robot car based on ARM were outlined.The hardware of the self-tracing robot car control system based on ARM was designed.The detailed design of core-board,power supply,route identification,motor drive,speed detection, serial communication,reset system,USB&JTAG interface,human-computer interaction and other hardware circuits was given.According to the principle of PCB and the anti-interference measures, the printed circuit board(PCB) was designed.The main problems encountered in the hardware designing were summarized.The software of the self-tracing robot car control system based on ARM was designed.Under the software development environment of ADS,H-JTAG and according to S3C2440A programming system,the software program of physical layer was written.On this basis,μC/OS-Ⅱoperating system was transplanted to S3C2440.The application software of path detection,speed detection,wireless communication,motion control etc.,as well as the host computer monitoring software were programmed.In addition,the problems frequently encountered in the software designing were given.The control strategy of self-tracing robot car was divided into decision-making control layer and drive control layer.Decision-making control was realized by fuzzy control algorithm,and drive control employed the fuzzy adaptive PID algorithm.The position and velocity were controlled by servo and the DC motor respectively.The test results showed that the self-tracing robot car had good position tracking and fast speed switching performance.