Design And Implementation Of The High-Speed Car-Like Mobile Robot Based On Renesas MCU

Wheeled mobile robot technology has brought continued innovation and efficientproduction for industry, and has been a focus of academic research. Car-like mobile robot(CLMR) is a combination of wheeled mobile robot technology and modern automotivetechnology. Intelligent automotive has become a trend with the continuous development ofCLMR with the continuous development of CLMR technology. CLMR technology can beused to achieve a series of functions such as road recognition and automated vehicleoperation. And automatic parking technology has been used in the automotive industry. Thedevelopment and innovation of communication technology, sensor technology, embeddedtechnology and automatic control technology have greatly promoted the progress of CLMR.Also, they have brought new challenges for the design and development of CLMR. ACLMR is used as a research object in this thesis, and a control system of the CLMR isdesigned and implemented on Renesas Micro Control Unit (MCU) for trajectory tracking.This thesis is devoted to establish the kinematic model of the CLMR and propose twodifferent model-based system schemes. The proposed systems for the CLMR are discussedwith system simulations. Then the preferred one which is more stable and simple isimplemented. We analyze the requirements of the CLMR and propose a scheme ofimplementation on embedded system. The developed CLMR system is composed of acontrol system, a servo unit, photoelectric sensors, an encoder, four DC motors and a bodymade by ourselves with carbon fiber. We design the CLMR control system on a RenesasMCU H8/3048which is utilized for the trajectory tracking function to calculate the positionand velocity of the CLMR with the photoelectric sensors and the encoder to control the DCmotors and the servo.The experiments prove that the whole system is proved to have an excellent dynamiccharacteristic and stable capability. The CLMR can be developed as a common platform forrobotics research with some further researches and applications. The CLMR model can alsobe optimized. Meanwhile, a simulation platform for robotics research and debugging can bedesigned.