Design Of Mobile Robot Motion Control System Based On DSP

With the development of science and technology, applications of the mobile robot are more and more wide in the fields of military, medical and life. In this paper, I design a controlled mobile robot platform. This topic comes from the project " The spatial position of the smart sensor technology integration and applied research " that XI’AN institute of optics and precision mechanics of CAS collaborated with Wuhan University. In this project the mobile robot as a platform carries a variety of sensors, such as led stereoscopic camera, laser radar, INS and other devices to obtain information on the Unknown location, unknown space to build three-dimensional model.In this paper, DSP28335 processor is the core of the mobile robot control system and the performance of this mobile platform is designed and implemented according as the requirements of project. First of all, I compared common movement mechanism and selected crawler chassis as the machine body according to the specific needs. In accordance with the two-track differential drive mechanical structure, I analyze the kinematics of crawler robot and get a clear relationship between movement of robot and speed given on both sides of the motor. Then the motor and position feedback devices are selected, and finally the hardware and software of the robot control system are detailed designed.Two work modes are designed for mobile robot. They are upper-computer control and remote control. The upper-computer can send control commands and display the current state of the mobile robot. Hardware and software of control systems are designed to modules. The control system hardware is divided into a power supply configuration, motor drives, sensor data acquisition, remote control functions achievement, DSP and PC wireless communication. Software of system is divided into several parts such as initialization, motor control, encoder data acquisition and processing, SCI communication, Upper-Computer software, etc.Experiments are conducted in several different working environment and verified the function of mobile robot. A dual-motor synchronization control algorithm is proposed to improve the precision of the robot’s linear movement. The mobile robot motion control system met the project’s requirements.