Design Of Motion Control System For Reconnaissance Robot Based On Atmega128

In the process of anti-terrorism, survey and rescue, investigating enemy intelligence and environmental parameters is the most critical part. With the development of robotics, mobile robots have been widely used in this field. Compared with general mobile robot, the special work environment, the scouting tasks’ characteristics, human expect more mobility, autonomous and miniaturization. Accordingly, the motion control system for the reconnaissance robot faces new research needs and technical challenges.Firstly, the development of reconnaissance robot and control technology is surveyed. In order to satisfy the control requirements for reconnaissance robot, this paper presents a control system based on Atmega128. This system consists of the micro-processor and its peripheral circuits, motor drive unit, the voltage conversion unit, check speed optical encoder circuit, ISP download interface circuit, wireless communication module, and.infrared sensor.The modular design method is used to improve the utilization of the code. Then, this system can effectively perform conveying, execution and feedback instructions. A position-type closed-loop PID control algorithm is also applied to gain excellence motion performance of the scout robot. According to experiments result, PID parameters are adjusted.Experiment results show that this control scheme effectively slove the fundamental motion control problem of reconnaissance robot. In the further, this system can be used as a theoretical guidance and experiment platform to research methods for autonomous reconnaissance robot motion.