Mobile Robot Controller And Its Implementation

The mobile robot is a important branch of the robotics field,and the controller is the key to realizing the robot's function.Oriented from the mechanism of mobile robot,Hero-I,the controller of the mobile robot is designed in this paper.There are some contents to be presented including motion equation and dynamics equation of mobile framework,mathematical model and driving circuitry of direct current motor,driving circuitry of step motor,the electrical schematic diagram of the controller in the appendix.Controlling the motion of direct current motor by adapting the algorithms of expert PID.Realizing avoiding obstacles by adapting the algorithms of grids.And taking USB transmission mode into the controller,as communication mode between the upper layer computer and nether layer computer.