Wireless Control Technology Of Mobile Robot Based On Embedded Linux System

Wireless remote control system of mobile robot based on embedded Linux systeminvolves multidisciplinary and more technical field, as embedded Linux developmenttechnology, network communication technology, sensor information technology andautomatic control technology and so on. Through researching the hardware platform,software operating system, key technologies of the mobile robot, the function of themobile robot became more and more perfect, which is of great practical value for thehuman society.Firstly, this paper analyzes the status of the wireless remote control mobile robot athome and abroad. The embedded platform of this system was build with the developingboard LT2440produced by LuTong Company and the embedded Linux2.6operatingsystem after comparison and selection. In combination with the motor/drive controllerand the manipulator controller, both of the whole design project and the softwarearchitecture were given with embedded platform as the center.The working principle and function of several robot senor modules wereresearched in this paper in detail. Using the way of writing embedded Linux moduledrive, the function of sensor information acquisition was achieved and the actual testresults of the sensor modules were given. Sensor modules mainly include CMOScamera, ultrasonic sensor, acceleration sensor, infrared photoelectric switch and so on.Using the communication technology of Socket, UART and SPI, the communicationfunction between controllers which were PC terminal, motor/drive controller andmanipulator controller was achieved. The wireless remote control of the mobile robotand manipulator with six degrees of freedom and the function of sensor data wirelesstransmission were achieved based on the communication function of each controllermodule.The mathematical model of wheeled mobile robots was researched in this paper.The control of the trajectory tracking was researched based on the kinematic model. Thecontrol algorithm of trajectory tracking based on BP-PID controller was researched inthis paper. The simulation experiment about the algorithm was carried out and both ofthe validity and the reliability were verified though the simulation results.