Gyroscope-based Competition Robot Embedded Control Systems

Technology of robot has become one of the most popular areas of study presently. Many mature products of robot have been widely applied in different areas. The development and diffusion of robot contests is an effective promotion of intelligent robots and intelligent control technology. The breakthroughs of agonistic robot's key technologies will drive the development and innovation of robots and automatic technology. They will also promote the development of industrial and military fields.The major objective of this paper is to study the trajectory of controlling and navigation of the agonistic robot, research embedded system of agonistic robot based on micro-gyroscope. The gyroscope can provide angle of machine, a trajectory of controlling method that based on heading angle of robot and optical encoders is given in this paper, including the derivation of theoretical algorithm for robot trajectory controlling, the realization of robot navigation, as well as the parameter's calibration at different phased location. This paper studied the smart digital PID control algorithm in the application for robot control, design the specific model of the realization, improved the stability and reliability of movement.Intelligent controlling technology of robot is inseparable from the support of embedded system. In the robot controlling system, microprocessor is used LPC2138, a 32-bit ARM7 microprocessor, one host and one slave. processors were embedded real-time operating systems -μC/OS-Ⅱ, increased the capability of the multi-tasking. The host processor is responsible for task scheduling, human-computer interaction, controlling of sensors and external motor; The processor of slave is responsible for the robot control unit, receives the data of the angle from the gyroscope, and the pulse from optical encoders, calculations the current position of robot. It also guides robot to race campaign according to the trajectory algorithm that has been given in the paper, interacted with the host processor through RS232 interface.This paper gave a innovated method in the aspect of contest robot navigation controlling. It applied the gyroscope in robot trajectory controller, gave a better design of embedded control systems for robot which can meet the efficient and accurate requirements of path planning for robot in the condition of competed environment...