Mobile Robot System Design Based On Stereo Vision

This paper makes detailed demand analysis on system architecture and control scheme, and then come out the control scheme based on mobile robot kinematic model. Also Kinect sensor is used for the vision device in this paper to construct the whole stereo vision system.Based on the whole design scheme, the software and hardware platform are implemented. In this paper, the software system of both upper computer and motion control system are implemented and Altera EP2C5FPGA chip is used to support the motion control system for the mobile robot. Also the control board and the execution part of motion control system are designed and implemented based on reliability design.Finally, experiments are executed to qualify the whole robot system. The experimental results verify that the mobile robot have a good performance in tracking. Also it won the3rd prize in2013RoboCup Follow program which validated the tracking feature and stability of the whole mobile robot.