| Along with the increasing development and mature of microprocessortechnology, wireless communication technology, control theory, sensor technologyand artificial intelligence theory, mobile robotics is rapidly developing. Indoormobile robot, as an important commercial and research area in recent years, hasbeen paid universal attention at home and abroad. Among a number of indoor robots,robot with the capacity of autonomous operation expands its service space in largepart. Therefore, based on the requirements of TI C2000&MCU Innovation DesignContest and existing technology, this paper designs a wheeled mobile robotdevelopment platform, which is with a variety of human-computer interactionapproaches, multi-functions, low-cost and easy upgraded hardware and softwaresystems.The robot has two main functions: human-computer interaction and intelligentobstacle avoidance based on the TI TMS320F28335processor. Human-computerinteraction can be achieved via four ways: the infrared remote control, GSMcommunication, touch screen LCD, RF wireless communication, to meet the needsof different types of customers. Under the perception of ultrasonic sensors forenvironment and the multi-sensor information fusion, the robot can achieve theability of autonomous roaming. Software System consists of DSP signal processingand control program, PC program and wireless communication program. DSPprogram, the core of the software system, completes robot drive control, dataexchange in human-machine interaction, autonomous roaming algorithm. The PCprogram as the client software, it shows temperature, humidity and gasconcentration information sent by the robot. Wireless communications program as ahub to connect the robot with the client software, completes data and commandexchange between the robot and the client.In this paper, the hardware platform and software system of a TMS320F28335based indoor wheeled mobile robot are designed and developed. And an efficientpoint-to-point avoidance algorithm is designed inspired by fuzzy logic andTangentBug avoidance theory for a non-omni-directional ranging robot, andFastSLAM algorithm in the application of the mobile robot simultaneous locali-zation and mapping is researched in detail.Finally, the robot’s human-computer interaction, autonomous obstacleavoidance function are verified in experiments. The obstacle avoidance algorithm,used for P-P and non-target avoidance is proofed effective through simulation andsystem experiments. The effectiveness of the FastSLAM algorithm for the mobile robot, under unknown environment is proofed in by building the2-D simulationplatform based on Matlab. The potential value of the wheeled mobile robot isverified from the theoretical and experimental analysis. |
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