| Intelligent mobile robot involves some special technology like artificial intelligence (AI), intelligent control, information procession, image procession, detection and conversion and so on. It also refers to computer science, auto control, mechanical, electronic science. It's one of the key researches on mobile robot now. Subject comes from the actual project "Multi-function Intelligent Mobile Robot" of Nanjing Scientific Bureau. The design and analysis of mobile robot control system is done in this project.First, this thesis is based on the requirement of system and technical guide of the item, the robot control system is analyzed, and a Distributed Control System of the PC ICC(Industrial Control Computer)+Elmo Harmonica digital servo controller is constructed by comparing with different forms of control Programmer.Secondly, According to need and characteristics of the work for multi-function Intelligent mobile robot, a robot sensor system is designed. The sensor data are collected and processed via RS-232 serial port and data acquisition card. Experiments of Sensor collecting information indicate that the sensor system can meet the robot information collection requirements in the environment.Finally, the sensors are used by multi-function intelligent mobile robot, digital encoding and magnetic compass is used for localization of robot, ultrasonic and photoelectric switch are used to detect information of robot's around obstacles, and tilt sensor is used to detect the position of robot, Robots moves the planning process of movement towards the target points, avoiding obstacles, climbing, emergency management behavior and reach the goal of these five kinds of points, then a robot real-time path planning algorithm is designed and path planning of robot is simulated in Matlab environment, and simulation result confirms that the usefulness of control strategy. |
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