Research And Design On Control System Of Wheeled Robot

Mobile robot are a major focus of the world’s scientific research which covers computer technology, control technology, sensor technology, and many other high-tech, it’s a strategic significance platform of high-tech. Because of indoor mobile robot closer to people’s life, and it works mainly indoor, unknown factor has little effect on the indoor environment, so it is relatively easy to study, therefore it attracts more attention of domestic and foreign academics.The indoor wheeled robot designed in this paper has two driving wheels and a omni-directional wheel, by controlling the speed of two driving wheels to control the robot in different behaviors.The functional requirements are the starting point of the whole subject, so first of all, the functional requirements of the control system are proposed, then the overall scheme of control system is designed and the model of specific devices is selected. The principle diagram of hardware circuit is drawn. Based on the design concept of “core board+floor”, the power supply circuit, the sensor signal acquisition circuit, drive control circuit, human-computer interaction module interface circuit, USB interface circuit on the floor is designed.Then, the motion control and path planning algorithm in the robot’s navigation are studied in this paper. Because motion control is the perform action of path planning, the motion control algorithm based on dual-encoder is studied firstly, then the path planning algorithm based on improved shuffled frog leaping is studied, and completes Matlab simulation and verification. Because the location is the premise of motion control, so the positioning algorithm based on dual-encoder is also derived.Finally, the software design process is proposed in this paper. We transplanted embedded Linux operating system into decision controller to achieve more functions and facilitate future improvements. In addition, the application of Qt, which is used for design the human-computer interface of embedded system, gives the operating system a visualized GUI interface. Meanwhile, movement based on dual-encoder positioning is verified. The experiments show that the designed WMR control system meets the desired function requirements. During the experiment at the maximum speed of lm/s, the system has a good movement control effect, and the final positioning accuracy can be achieved in less than 2cm.