Research On Wheeled Cross-Country Robot Control System

Wheeled cross-country robot, because of its small volume, flexible movements and the advantages of low cost and suitable for mountainous regions, scrub, lawns adverse enviroments, has a good prospect on the military and anti-terrorism areas. In this paper, a robot control system is designed for 4x4 drived cross-country wheeled robot, which has a special structure of the intermediate shaft.Control system is one of the keys that affect the performance of the robot. Because of the particular application, wheeled cross-country robot has restrictions on control system performance, size and power consumption. This robot control system uses TMS320F2812&FPGA as its core processor, which is powerful, high integration, capable of multi-task control, and can be easily expanded for other applications.Firstly, the main structure of the control system was designed, and each part of the hardware circuit was analysised. The control system mainly includes four parts: First, the micro-processor module, which is responsible for robot-dominated procedures and multi-sensor information collecting, processing, and take charge of the communication with host computer from remote wireless module. Second, Inertial Measurement Unit (IMU) module, responsible for collecting robot six degrees of freedom motion information. Third,the motor drive module, to provide a stable DC motor drive signals. Fourth,wireless communications modules, including wireless data transceiver module and wireless video transceiver module, responsible for the communication between the control system and PC.Secondly, according to the wheeled robot running cross-country task, software system structure is analysised, and the software is divided into small sub-modules based on the modular design theory. Design the data acquisiton module, digital filter moudle, and digital integration module based on inertial sensors's character of IMU. The alogrithms of positioning the posture of the moving robot is put forward. Finish the motors drives module based on the mechanical character of the wheeled cross-country robot. The wireless communicaiton protocol module and the image collection module based on VC++ are presented.Finally, Experimental System of wheeled cross-country robot is established, experiments such as walking straight, turning, walking field are completed , the result confirmed the validity of control system designing. The IMU module calibration, and the IMU data analysis are completed, which finish a fundamental research on the Inertial Navigation System for mobile robot.