Small Ground Mobile Robot Control System

With the fast development of robot, the application of small-scale multi-functional ground moving robots in fields like fire control, excluding explodes and anti-terrorism is becoming more and more popular. The research and development for automation control systems has become the focus at present and many organizations in and aboard are strengthening their research in this. This paper is originally from a real project named "The small-scale multi-functional ground moving robot", which is sponsored by the venture fund of Nanjing University of science and technology.The drive control system of the robot is made up of embedded computer PCM-5330, motor system and power. Serial communication and CAN communication can make remote-control and driving system an organic whole. With a through comparison of the performance of the similar products, we chose each part of the hardware of the control system that matched our project. After the assembly was the debugging work. With hardware debugging, we acquired the protective parameters of the motor driving and PI control parameters, which help making the dynamic respond of both the electrical current control system and velocity control system meet the requirement very well. With software debugging, we debugged the main program in PCM-5330, communication program for initialization, instruction receiving and sending and data process program, and the program within the driver, which made the control of the robot very well. After succeeding in the debugging work, we did different kind of testing experiments of the robot, including experiments with the wheels of the robot in the air and on the simulative ground. We analyzed the data of the experiment and its result, found the defect of the design of the robot and made it up by improving its software system. With the repeating experiments and improvement of the program, we largely improved its maneuverability. All the data and its result from the experiments was a good reference for the evaluation and amelioration of the control system of the robot, and educe an optimal control strategy in swerving, mounting, energy economy and protection.This paper meets the requirement of the control system of the the small-scale multi-functional ground moving robot and makes it in cruise, swerve, turning over and striding over obstacles.