Title: The Design of Embedded Control System for Mountain Robot
Abstract: Considering the working environment of mountain robot is complicated,the control system should meet the requirements of real-time multitasking and interactivity,etc. Aiming at solving the control problems,embedded mountain robot control system is designed. Firstly,a three-level control system scheme based on the WIFI communication and CAN communication is proposed. Secondly,the embedded hardware system of coordination control is designed,which are composed of ARM11 master control module and multiple node controller. Finally,embedded Linux operating system is adopted as a software development platform for ARM11 and Interactive software is designed by Qt Creator on the platform.Meanwhile,incremental PID algorithm is applied to the speed control of center motor and through genetic algorithms the autonomous robot obstacle avoidance path is planned. The hardware and software functionality of robot has been tested; the path of the robot autonomous obstacle avoidance has been compared with the actual walking paths,and the results show that the designed control system has the high accuracy and hard real time. The system with friendly interactive interface is reliable and able to meet the control requirements of mountain robot.
Publication Year: 2014
Publication Date: 2014-01-01
Language: en
Type: article
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