For Members Of The Design Group Robot Robot Controller Built

The cooperative control is required when swarm robots are used to dealwith complex tasks. As known in nature, cooperative control is fully distributed.By applying proper control strategy to each member robot respectively, theswarm intelligence may be emerged from mechanism of limited environmentalsensing and local interactions either between robots or between robot andenvironment. If then, the assigned tasks can be accomplished. Due to swarmrobotic system is composed of a large of robots, design to controller mounted oneach member robot has theoretical significance and practical value inexperimental swarm robotic system building. For this end, we did some workand made the major contributions as follows:The functional requirements of member robot in environmental sensing,moving control, and interactions are clarified based on mechanism studyingabout swarm robotic system. And scheme of embedded technology-basedmember robot controller is determined, mainly for controlling over inputdevices including ultrasonic distance finders, infrared sensors and photoelectricencoder as well as for actuators, such as DC motor driver. The characteristics ofmoving platform of wheeled autonomous mobile robot are studied, fordetermining sensor configuration and actuator driving mode as well as ZigBeetech-based short distance wireless communication scheme. The design to circuitand PCB for extended board is realized based on processor S3C2440A and itsexisting core board. The software architecture of embedded system is studied sothat the software design scheme is determined. According to the normalizedrequirements of ARM embedded Linux driver software developing for controlsystem, the embedded system developing environment building, embedded filessystem design, BootLoader design, Linux system transferring, device driver andserial port driver design are realized.Finally, the test software is designed using file operation-based APIfunctions. At the same time, the special application control software is alsodesigned to test the necessary control functions. Results from tests show that the developed device drivers can be operated well, and that the requirements of thecontroller are met.