Wireless Ad-hoc Network Control System For Modular Mobile Robot Research

With the development of science and technology, research in the field of mobile robots is increasingly becoming the forefront of the development of science and technology development, mobile robots have been used in more dangerous areas of counter-terrorism, explosive ordnance disposal, such as to replace the person to perform the task. Most of the existing mobile robots for specific tasks and research and development, may well accomplish specific tasks, but the application environment changes, you must replace other types of robots to complete tasks. This is bound to cause a lot of similar shape and structure of the mobile robot system to produce, resulting in waste technology and resource, one of the ways to solve the problem is to introduce the idea of modular robot design, robot developed by a number of modules, depending on the task needs to choose the right module quickly assembled, saving development costs and cycle time of the robot.This paper mainly for modular mobile robot control system was proposed by way of wireless ad hoc networks to achieve modular robot, eliminating the need for a wired connection for each module assembly problems. The main contents of this paper:Through the study of the theory of modular, modular mobile robot into the execution module, mobile module and monitoring module, The Zig Bee wireless ad hoc network technology to the robot control system development up to determine the overall framework of the wireless ad hoc network control system.Selection of TI’s CC2530 chip production as the main chip Zig Bee communications, were involved in the design of the core hardware circuit board hardware circuit design and floor function module, Such follow-up only need to modify the floor can get different functional modules.Zig Bee protocol stack on the general framework introduced to existing hardware based on various functional modules of software design, make a software program flow chart of each module, the corresponding development of its software programs.With PC software for each module for testing, meet the requirements of the basic modular mobile robot control system for wireless ad hoc networks.