Design And Implementation Of Inteligent Tracing Car Based On ARM

Intelligent tracing car, which belongs to the category of robot, can adapt to work in theodious environment to accomplish the task of exploration without people. It is an advancedtechnology that integrates sensors, embedded, artificial intelligence, trajectory planning andautomatic control technology. This paper focuses on the designation of the control system forthe intelligent tracing car with high performance and low power consumption. The system hasexcellent scalability and can achieve multi-function module added.This paper first describes the present research status at home and abroad and studies thewhole system of the intelligent tracing car. The hardware platform of the intelligent tracingcar control system based on ARM is constructed by modules of the power, S3C2440A coreboard, master control board, infrared sensors tracing, dc motor driver, wirelesscommunication, image acquisition and others. This hardware system can realize the functions,such as auto-tracking, real-time image acquisition and wireless transmission.In the software development environment of RedHat9.0, ADS, Sercure-CRT and H-JTAG,in the these, construct a software platform of the intelligent tracing car control system basedon ARM, establish the embedded cross-compiling environment which can be transplanted intothe Linux operating system. I write device and I/O port drivers based on Linux operatingsystem to upload drivers of USB camera and USB wireless network card,design of the maincontrol system,write the groups of image acquisition, socket video transmission programbased on TCP/IP protocol, design a embedded Web video supervisory control system ,whichcontains embedded video servers and Web Server. With Boa servers transplant ,I write VideoFor Linux image acquisition program and socket video transmission program.I realize thevideo data real-time receive and display, running trajectory for remote monitoring of theintelligent tracing car with a Java Applet man-machine interactive platform.This paper discusses the PID control algorithm of infrared tracing and TCRT5000 errorinspection method, designed the corresponding of program process. At last, I debugged thesystem combined by software and hardware of the intelligent tracing car. The results state theideal reliability and stability of this system and present the realized functions of path tracking, real-time image transmission and remote monitoring that achieve the desired results.