Wheeled Robot Based On Microcontroller Design

With the rapid development of computer technology and extending research of AI, the intelligent robot has being attached more importance. The research of path planning for sensor-based mobile robot has been a spotlight. The wheeled robot is a branch of mobile robot and the maze is the emphasis of machine intelligence research. It is significant for robot design and machine intelligence via research of wheeled robot's traversing mazes.Based on the analysis of maze algorithms and development, design and manufacture of robot, this thesis realizes the hardware design and software design of wheeled robot based on MCU.We use the AT89S52 MCU as the system core, four reflected infrared sensors to perceive environment information, two directly-shine infrared sensors to detect the rolling speed of motors, and L293D H-bridge IC to drive two DC motors. The adjusting and control to motor speed is by the means of PWM, and six digits LED which display signals while system running is driven by MAX7219. The infrared remote controller makes the wheeled robot wireless controlled. The the algorithms of exploring path, rapid return and traversing of mazes are implemented in assembly language.This thesis presents the key aspects and approach of both hardware and software design. It provides the parameters and resources of AT89S52 MCU, and introduces the resource allocation and usage in detail. It analyses the principles of reflect-shine infrared sensor measuring distance, and motor speed detecting and control. It describes the mechanism and programming of A/D converter TLC1543 and LED driver MAX7219. It interprets in particular the design method of movement control, distance measuring, speed detecting, rapid return, rapid return and traversing, information display, remote signal receiving and signal processing. The program flow diagrams of some modules are presented.In addition, the path planning algorithm of robot is introduced. The popular global and local path plans are analyzed. The main work is summarized and improvement is on the next step.