Indoor Mobile Robot Based On The Embedded System Applications

With the rapid development of robotics technology, more and more robotics applications will come into people's living, such as some service robotics applications in homes and public service. Currently, the key problem that limits the popularization of the robotics applications is that robot is currently costly and power-consuming. Reducing the power consumption and cost price of robotic application is more important than developing the new technology in robotics.On the other hand,embedded system has some special advantage on reliability, low power consumption,low cost price and powerful over other system applied in robotics.This thesis investigates the problem of the application of embedded system in robotics and other relative research, then an open, modular and scalable robotics platform based on embedded system is presented.The main contents in this thesis are as follows.(1) The disadvantage of conventional mobile robots was analyzed. A method of robot based on ARM and μC/OS- II was advanced. This platform implemented by using ARM S3C44B0 as the main controller, instead of PC and industrial control computer that commonly used in robotic controUer.The design process was presented from function design, system structure, hardware design and software design. The platform is layered, modularized, extensible, transplantable and customizable. And it also has the advantages such as compact hardware, low-power, real-time performance and high reliability. This architecture's cost price is low, and its power consumption is very low.It is easy to apply to other robots after simple hardware adjustment and software customization.(2) By means of analyzing and comparing some popular embedded operation system, the μC/OS-II is selected as the real time operation system on the robotic platform. μC/OS-II must be replanted into the main processor of the controller, then some submodule of task subsystem should be layout properly. The program architecture that control and manage the submodule on the robotic platform is presented.(3) A new indoor positioning system based on incident angle measurement of infrared lights has been suggested. When the movement area of the robot is ordinary or limited ,one device is enough.When the entironment is complex, it is easy to design a positioningsystem in distributed manner with multiple observation devices.(4)A method to provide long-term autonomy by implementing autonomous recharging was presented. A recharging station design is presented, consisting of a stationary docking station and a connecting mechanism mounted to robot. At last the emulational experiments are made to prove the feasibility.(5) The mobile robot should have the capability of autonomous navigation.FPF and behavior-based navigation can implement this point. In this paper,a strategy of behavior control systems for autonomous mobile robot was discussed. And the emulational experiments were had as a test.