The Research Of Mobile Robot Navigation Control System Based On Embedded Linux

This paper combined one of the twelfth five year plan pre-research project of General Armament Department. For the problem that remote mobile robots out of control when the control signal is interrupted, this paper introduce a navigation control system of mobile robots based on embedded Linux. The system can enable the mobile robots to autonomous return follow the original path until the signal re-connected or returned to de starting position after the interruption of the control signal. The system could improve the level of intelligence and viability of mobile robots. And it had important theoretical significance and applied value.Small tracked mobile robot was the research object in this paper. According to the environment of mobile robot, odometer and fiber optic gyroscope as positioning sensors of the mobile robot. At the same time, laser radar as obstacle avoidance sensor of the mobile robot if the mobile robot encounters obstacles during the returned. The programming design of navigation control system based on embedded Linux development environment.The differential kinematic model of tracked mobile robot was established in this paper. For the non-systematic errors of the mobile robot, slip coefficients were introduced to the kinematic model. The structural parameters were checked in order to reduce systematic errors. A fusion location algorithm based on control intention using odometer and fiber optic gyroscope was proposed, the relative location of the mobile robot was achieved and the relative coordinate points were recorded.When the mobile robot started autonomous return, it followed the coordinate sequence when the remote control signal was connected. The mobile robot control realized by linear control rate and PID control rate. The mobile robot may encountered obstacles during the autonomous return, the autonomous obstacle avoidance was realized based on laser radar.The software of navigation control system developed based on embedded Linux. Autonomous return experiments were carried out, the results showed that the system was able to control the mobile robot to autonomous return with higher precision after interruption of control signal.