| Auto-mobile robot is a important branch in robot field. In this paper, the control system for the two-wheeled mobile robots (2WMRs) is designed and studied, which track the pre-defined path and fulfill the control task successfully in ABU2007.Firstly, the model of 2WMRs is built, and the global coordination system is constructed for it. Then the dynamics and kinematics of 2WMRs are studied and equation is obtained.Secondly, based on the kinematics equation, the control structure of 2WMRs is discussed, Top-Low control strategy built in ARM 7 platform is adopted, and the fuzzy controller for path tracking is designed. This controller accepts the point sequence generated by path planner as input arguments, then outputs the angular velocity of driver wheels to low level motor drive system in real time.Thirdly, the circuits for platform and interface for sub-system is designed, the data flow between systems is studied, and the relative algorithm of sub-system and important modules is designed.Finally, the simulation model is built for control system; the experiment and simulation prove that the kinematic and algorithm for path tracking is correct and stable. The reliability of whole control system is also verified. |
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