| The caterpillar track robot has the high level adaptive capacity to environment.With its special movement forms,it can be widely used in the military, industry production, medical assistance and so on. Due to the fast development in the artificial intelligence research, especially in the route planning, the caterpillar track robot is much smarter than before. It can break away from the human’s control by using its own sensor to get the environment information and using this information to plan a route to the target. A good route-planning can’t be obtained without good hardware sources. The embedded system serves a nice platform for the robot. This paper focus on the designing of a caterpillar track robot and its route-planning method.The work and result of this paper is dividing into three parts.In the first, this paper designs the motive control system of the robot. The system uses a DSP whose model is TMS320F28335to control the motor. DSP follow the order of the upper level PC to control the motor and utilize the photoelectric encoder to form the close loop control. With the close loop control we can revise the error in the motor control.Then the core-control system uses a notebook computer. The computer uses an advanced integration module which fuses the date from GPS and INS to get the robot position and attitude information. After receiving the information from the module, the PC uses the route-planning algorithm in the program to plan a route for the robot.In the last stage, the paper did some research on the SRT route-planning algorithm and optimizes the algorithm related to the basic SRT. The algorithm is simulated on the computer and gets relatively good result. |
