Eod Robot Drive Control Based On Can Bus System

Explosives and Ordnance Disposal (EOD) Robot is of great importance as response to clearing explosives left in war, handling bombing events made by terrorists, transporting ordinary ordnance and so on. What's more, it's also significant for robotics to research EOD robot and its crucial technology.In this paper, mobile robot with pedrail and wheel is used as an object of study, chassis and its driving and control system are emphasized. A driving and control system with CAN bus is built, and a fuzzy controller for the velocity control of hydraulic motor is designed.After comparing several types of mobile carriers, a pedrail and wheel exchangeable moving structure is chosen. Together with fluid drive method, motor control with proportional valve and open-loop hydraulic system, a whole EOD robot chassis is selected. Based on those machine, a driving control system consisted of an operating node and two control nodes with CAN bus is formed. As to the difficulty in constructing a model and variable impact because of uneven ground, a fuzzy controller is made to control the velocity of the hydraulic motor. At last with the EPEC controller made in Finland, an experiment platform of close-loop velocity control of hydraulic motor is built. As a result, CAN bus communication is realized and the fuzzy controller is analyzed and compared with traditional PID controller.In short, the study of the robot chassis and its driving and control system is feasible and meaningful. It can also be developed to apply in ocean mining vehicle. At the same time, the fuzzy controller is also qualified for the velocity control of hydraulic motor.