Design Of A Mobile Robot Platform Based On Kinetis And FPGA

With the constant improvement of robot performance, the application range of the mobile robot isexpanding and playing a huge role in many aspects, such as industry, agriculture, life. As one of the mostimportant realization of the mobile robot,wheeled mobile robot is the hotspot in research and applicationof robots. Existing research on the hardware and software development of mobile robot has been maturewhile problems still exist, according to different applications and problems most of the mobile robot havetheir own specific needs, and need the researchers to design the hardware circuit and software programdesign again, which greatly reduces the efficiency of research and development. According to themodular, hierarchical design method, this paper presents a modular, reconfigurable, mixed architecture ofmobile robot platform design, help developers quickly construct a specific robot platform according tothe demand,which improve the reusability of the hardware of the robot and reduce the developmentcycle.In this paper, we design the mobile robots driven by four wheel independent control and chassis, thesystem is divided into three modules: perception and movement module, real time control module,high-performance processing module. Perception and movement module contains a wide variety ofsensors and action of drive circuit, the design for the generic interface to facilitate developers in relationto the replacement of the demand. As the core of the whole mobile robot platform, the processing unitof Real-time control module is the mixture architecture of ARM and FPGA, by a piece of Kinetis seriesmicrocontroller with Cortex-M4kernel and a piece of FPGA, which pick up all sorts of commonly usedembedded communication protocol interface and peripherals; High performance processing moduledoesn`t have to do hardware design but use PC or mobile terminals such as mobile phone. At last,through a series of tests and experiments for testing the performance of mobile robot platform function,this paper verify the feasibility of the system.