Study On Hybrid Controller For Mobile Robot

Mobile robot involves more and more sensor applications and monitoring needs, the traditional controller based on the microcontroller, cannot meet these two requirements.Based on the wheeled mobile robot as the monitoring and test platform, the motion control of the whole monitoring system is designed through the hybrid control of the assistant controller and the master controller. And the following work in four aspects is implemented:the overall design of the system, the design of the assistant controller, the design of the master controller and the design of the monitoring system.(1)The architecture is built for the hybrid Controller for mobile robot, the 3D modeling of the monitoring system is completed by Pro/E and 3D printing technology will be used to monitor the system test equipment of the walking mechanism of the fixed module block printing.(2)According to the functional requirements of the hybrid control system, the overall design of the co-controller is completed and the peripheral circuit of the controller is designed,including system power supply, SPI communications, the motor driving module,the ultrasonic ranging module, the power module with anti-reverse, the anti-interference measures and so on. And write the control program for each module of the assistant controller, including the DC geared motor driving, the servo driving and ultrasonic ranging module.(3)According to the functional requirements of the hybrid control system, the main controller is designed and the control program is compiled, including the WiFi communication between the master controller and the server, the WiFi Direct communication between the master controller and the server, the USB-HID communication between the master controller and the controller, and the use of the main controller for the internal sensor.(4)The overall solution of the monitoring system and the system architecture is designed, and a kind of monitoring system based on PC is designed, another is based on WFD, and the main functions of the monitoring system are designed, including the start of the module, sensor dynamic data text mode and the design of the sensor dynamic data curvemodel.