Design And Implementation Of Positioning Technique For Wheeled Mobile Robot Based On Embedded System

Mobile robot is an important branch of robotics and accurate positioning is thekey technology for its task of proper navigation and control. This paper studies thepositioning technology of a self-developed wheeled robot, and designs the GPSpositioning subsystem and electronic map locating software on PC.According to the research on robot positioning technology at home and abroad,we choose GPS as the positioning method. In the hardware design, MSP430F149isused as microcontroller and resolves the positioning information of NMEA protocolsent by GR87satellite receiving module. After that, the positioning information isdisplayed on the LCD module and the microcontroller can communicate with PC viaRS232interface by level-switching circuit.This paper studies the composition and positioning principle of GPS, positioningerror, and time and coordinate system often used in positioning technology. The fieldinformation of NMEA protocol is analyzed, and the positioning data receiving andmessage checksum is completed. Also the message resolveing and the date adjustingfunction and the communicating with PC via Modbus protocol are achieved.In order to get the more intuitive location information, electronic map locatingsoftware of PC developed by VB is designed in the paper, which takes the Satellitevirtual maps captured from the Google Earth as background. Map display, differentialGPS positioning and the serial communication of the software with GPS positioningsubsystem and sensor subsystem are achieved. So the task of positioning based onelectronic map is completed finally.