Design And Implementation Of Zynq-based Indoor Service Robot Platform

In recent years, driven by the rapid development of embedded technology, the functions of embedded system have been increasingly powerful. Combining with its features of low cost, low power and high integration, embedded technologies used in development of indoor service robots can contribute to widespread robotics applications in daily life. However, the existing indoor service robots based on embedded system are usually integrated designed for specific application requirements. Since less regardless of platform-based design, there is a lack of flexibility, portability and scalability in these robots.Based on the commonality of indoor service robots' underlying system, the requirements of platform-based design, and the characteristics of Zynq AP SoC, this thesis presents a hierarchical design method for indoor service robot platform. The design of indoor service robot platform is divided into four layers: physical layer, data processing layer, application layer and high-performance expansion layer. The physical layer is the bottom layer of the indoor service robot platform, which includes actuator and sensor system. The function of this layer is to realize the interaction between the platform and environment. In order to improve the compatibility of this platform's hardware, a unified interface is defined in implementation of the peripheral circuit in physical layer. The data processing layer is mainly based on the FPGA of Zynq AP SoC, which makes full use of the features of FPGA in embedded system development, such as parallel processing and flexibility in hardware design. The function of this layer is to implement the driver of underlying peripherals and some algorithms of high real-time requirements. Linux is ported into the ARM of Zynq AP SoC in application layer, making it easier to develop high-level applications. The high-performance expansion layer is mainly based on Robot Operation System(ROS), which integrates many open sources. This layer greatly expands the applications of indoor service robot.Finally, a series of tests and experiments are carried out to verify the availability and characteristics of this indoor service robot platform.