The Integrated Platform For Intelligent Mobile Robot Control Study

The Integrated platform for intelligent mobile robot includes complex environmental monitoring, route planning, action execution, and human-computer interaction, and other functions, it is also one of the main research object robot science field. In this paper, based on actual research projects, focus on building an integrated platform for intelligent mobile robot, multiple motor integrated control, multi-sensor data acquisition, data fusion and attitude embedded system design and other aspects of the design depth study, and focused on solving the intelligent mobile robot motion control, gesture accurate detection, human-computer interaction and other issues.Through the development of integrated platform for intelligent mobile robot at home and abroad were summarized comb, summarizing a variety of embedded microcontrollers based on the features and functions, according to the project’s integrated platform for intelligent mobile robot needs, S3C2440 ARM9-based microcontroller as the core, the use of modular design to determine the overall hardware design of integrated intelligent mobile robot platform, and key consideration and design the solution to the control and data processing problems of the attitude detection module and the data detection module, using bus control mode.The software platform based on the free, source open, and stable portable embedded Linux systems, designed and built the system development environment, while effectively connecting Bootloader boot program production, system kernel transplant and connection with the application development process. Analysis of the control model, which is used to drive the mobile platform brushless DC motor, application of PWM control mode and combined with the principle of PID regulator, we build a motion control system platform.Detailed analysis of the motion system attitude solver and data fusion problem, based on Euler’s theorem, in the body coordinate system, established equations describing motion attitude, and focus on multi-sensor data fusion problem for gesture detection module, proposed based on quaternion complementary filter method which can get a stable posture value, solves the problem of obtaining accurate data.By three-axis attitude information detection experiments, six-way ultrasonic ranging experiments and motor speed control experiments, verify the control method used is feasible, proposed quaternion complementary filtering method is suitable for three-axis attitude information processing, to ensure that the overall platform performance indicators meet the design requirements, laid the foundation for the further study of the integrated intelligent mobile robot platform.