Lower-Computer Control System Research On The Six-Wheel-Independent-Driving Unmanned Vehicle

Autonomous navigation mobile robot is a kind of robot which can walkindependently without driver. The robot is used to complete some dangerous,tedious tasks instead of human, it is widely applied in war and publictransport.Based on the research status both home and abroad of autonomousnavigation mobile robots, this paper puts forward a suitable scheme for thissubject which using six-independent driven mobile platform, up-computersystem for complete autonomous navigation and lower-computer system forcomplete underlying control.This paper records an elaborate research on the lower-computer controlsystem. The main work includes five aspects as follow:Firstly, accomplishing overall design of the autonomous navigationmobile robot according to system requirements, and giving a description of itsmechanical system, up-computer control system and lower-computer controlsystem.Secondly, this paper gives a detailed interpretation of its lower-computercontrol system. The lower-computer system needs to control six drivingmotors, a group of power battery and a DC motor, the module components communication to each other through CAN BUS. This paper discusses theCAN BUS communication network, battery management system and therotary motor drive circuit three main parts.Thirdly, this paper discusses the motion law of thesix-wheel-independent-drive skid steering robot and establishes the slipkinematics and dynamics model. The six-wheel-independent-driving robotcompletes steering relying on the speed difference between the left and theright side, there are both rolling and sliding during the steering. The robotmotion has greater uncertainty than the robot with a steering device.Fourthly, accomplishing the development of lower-computer VxWorksembedded system, making the system work as expected process. Thelower-computer system responses and controls the corresponding modulecomponents after the up-computer system sends a CAN message.Finally, programming the visual motion control software based on VisualStudio2008C#develop environment, and then carrying out a simulationexperiment. The experimental results indicate that VxWorks embeddedsystem can realize the real-time multi-task scheduling, the control algorithmcan meet the expected design requirements and the module component canwork properly according to the protocol.