Design Of Mobile Robot Control System Based On ARM

Robot technology has been one of the most important development areas in the world and the mobile robot,as an important part of robot technology,is most widely used.With the concept of "Industry 4.0" and "Made in China 2025" rising,the mobile robot technology will be towards digital,intelligence,network development direction.Mobile robot not only has a lot of applications in production and life,but also provides an effective tool and platform for the study of the production of complex intelligent behavior and the exploration of human thinking.So this paper designed a mobile robot control system based on ARM microprocessor is,which has a degree of autonomy and intelligence,user can design complex route for the mobile robot by the man-machine interface,and in the process of traveling,the mobile robot can get the environment data by sensors to regulate its own state.The main research contents of this paper include:(1)This paper introduced the structure of hardware and software of embedded linux system,The S3C2451 microprocessor based on ARM9 series is chosen as the core part of the mobile robot control system,and according to the structure size and function requirement of the mobile robot,designed a control board.(2)Building an embedded linux system development environment on PC based on the characteristics of embedded linux system,mainly including the establishment of cross compiler and the installation and configuration of some necessary tools,in the end realized the transplantation of bootLoader and linux kernel.(3)Determined the control scheme of the mobile robot,introduced the design process and compiling method of embedded linux system driver.And this paper also designed the drivers of each module according to the functional requirements of the mobile robot control system.(4)Introduced the GUI of embedded linux system,designed the application of linear motion and turning motion,and reduced system error by the method of feedback regulation.Finally this paper realized the human-computer interaction interface of mobile robot control system by Qtopia-2.2.0 and verified the movement effect of the mobile robot by experiments.