Design Of Mobile Robot Control System Based On Embedded Real-time System

With the development and progress of society and science,mobile robot technology is developing towards a more autonomous and intelligent direction.Nowadays,more and more mobile robot technology is applied in our life,which brings great convenience to people.The field of mobile robot is quite complex,which is a multi-disciplinary interwoven field.The design of mobile robot control system determines the function of mobile robot,so the design of mobile robot control system is very important.This paper studies the design of mobile robot control system,including the overall design of the hardware structure of mobile robot,the information fusion of sensor data,the design of controller based on fuzzy control algorithm,and the analysis of obstacle avoidance and the design of related programs.The overall structure design of mobile robot hardware is mainly based on the improvement of the existing non autonomous mobile robot in the laboratory,the overall structure of the mobile robot is designed,and the sensor system is selected and the position is reasonably distributed.This paper analyzes various information fusion algorithms,studies the advantages and disadvantages of different information fusion algorithms in the field of mobile robots.Through the analysis of the application scenarios and complexity of various information fusion algorithms,the fuzzy controller of mobile robot control system is designed by using fuzzy control algorithm,The paper proposes the obstacle avoidance strategy of mobile robot in different situations.The effectiveness of the system design is verified by the application of mobile robot control system in MATLAB simulation and experiment.In the application of obstacle avoidance in mobile robot control system,ultrasonic sensor and lidar sensor jointly obtain distance information between external environment and obstacles,and attitude measurement unit obtains the current position and posture of mobile robot.In the actual system operation,the environment data collected by each sensor are preprocessed,and the corresponding obstacle avoidance strategy based on fuzzy control is set.Then the data collected by the sensor is input into the fuzzy controller for data processing.The obstacle avoidance behavior and response speed of mobile robot in unknown environment are observed in the simulation platform and experiment process.The simulation and experimental analysis are carried out,The control system meets the design expectation of this project,and verifies the effectiveness of the control system from theory and practice.