The Control System Design Of Six Wheel All Terrain Mobile Robot

Compared with the traditional industrial manipulators,the mobile robot has the feature of moving,which significantly increased the scope of its activities and applications.However,there exist high labor intensity and poor working conditions problems during manual inspection in petrochemical industry,with regard to which,this paper aims at researching on a kind of robot that can replace human do the inspection work.This paper designed a set of control system which integrated versatility,openness and portability by taking the preliminary designed six wheel all terrain mobile robots as target,and combined with the guide of open design philosophy.Based on the analysis of the design requirements of six wheel all terrain mobile robot,the structure partition of the control system is divided according to the functional.Through the comparative analysis of the advantages and disadvantages of commonly used control system program,and ultimately determine the overall scheme of this paper,and from two aspects of hardware and software detailed design of the program.Details are as follow:The hardware of the control system takes Arduino(a kind of open-source hardware)as core,the structure of the hardware was determined with the based on distributed structure.Complete the detailed design from the master control system,driven system,security system,detection system and other aspects.Including the selection calculation of motor,the motor control board design,sensors circuit design,obstacle avoidance and detection scheme design height,etc.The software design of the control system is divided into two parts,which is based on the master slave control mode.One is to use centralized processing mode,write a program to achieve acquisition and processing of sensor information.The second is to write a program of motor control,achieve the motor driver and motion decision-making.According to the position and pose transformation method,calculate the position model of the mobile robot by using the posture information of the electronic compass and the displacement information of the encoder,and complete the control algorithm programming.Circuit and software components of the control system to debug,build the robot platform for performance testing and analysis.By running speed experiment,locating experiment and complex road experiment,the designed control system is proved to run stably and meet the design requirements.The research of this paper laid the foundation of the application of six wheel all terrain mobile robot in the field of petrochemical industry inspection.