| The subject of this article come from the small mobile robot project which researched and development by Renesas laboratory of HUST, the main purpose is to develop a robot platform for small mobile robot, by which we can study the visual control, positioning, and automatic obstacle avoidance and other robotic applications.This paper study and implement the project's design of the robot's embedded software platform, the small mobile robot is based on Renesas M16C/62P 16-bit MCU, to achieve Internet connection and high-capacity external memory interface. This paper focuses on the contents: design and implementation of the mobile robot's monitor program; portable and implement the embedded operating systemμC/OS-II; construct the file System Interface EFSL and TCP / IP stack.Firstly, this article describes extensive application and research significance of robotics, and then This paper introduces the status of mobile robotics research and the typical structure of the robot software platform. By analyzing the Device's hardware configuration of robot and software platform requirements, from the overall the author analysis and plans the architecture of mobile robot software Platform, and then detailed describes key points of the design process and implementation about the monitor of the robot software platform, embedded operating systems, file systems, TCP / IP stack and other modules, and describes the design of driver software and application development methods. Then this paper discuss two aspects of optimization problems: the memory management and software reuse about mobile robot which are resource constrained. Finally, the author describes the expectation of the change and optimization of the robot software platform, also provided information to further deepen the subject. |
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