Design Of Mobile Robot Based On RFID And Ultrasonic Sensor And Research Of Navigation

Intelligent mobile-robot is a robot with highly self-planning,organizing and adaptive capacity.It can perceive external environment and their own state through sensors to achieve the goal-oriented self-movement in the environment with obstacles. This paper conbines with Ministry of Education's Dr.found demand and raises the research subject of the mobile robot's navigation and position based on RFID and ultrasonic.The thesis summarizes the research results on field of mobile robot at home and abroad and analysises the hot issues in this field.It raises to measure the object's parameters such as distance and shape around the robot.At the same time,I place electronic tags at the key location in the known environment map combined with the RFID reader label's uniquel to achieve the robot's navigation which installs the RFID reader and ultrasonic sensor.With practical instance,I implement the design of 4 wheels mobile robot car experiment platform with front-wheel as its drive wheel and back-wheel as the directive wheel.Considering the application of ultrasonic navigation and RFID technology and system's realtime,I use the TMS320F2812DSP as the master controller and C8051F040 as its minor controller to achieve the development of the hardware/software about this robot control system.The hardware development include the designs of various sensors interface circuit,communication circuit,human-computer interaction and driver circuit.The software design uses the fuzzy self-adapting PID arithmetic.The master control union DSP2812 takes the charge of information intergration of the sensors transferred from assistant controller C8051F040 through CAN bus together with the fuzzy self-adapting PID aritheatic to implement the robot's navigation.The minor control union C8051F040 takes the work of sensor signal collection,with multipath ultrasonic signal's transmiting, receiving and analysis,along with the RFID reader's read/write control and it's speed control.This controller system has ability of wireless communication and this 4-wheel mobile robot provides necessary platform for the following research.After the whole design of this system,I evaluate the performance of the mobil robot's navigation by building a known environment map based on RFID and ultrasonic sensor.And also I make a series of experiments in the door on the robot's navigation in the known environment,and the result of which has proved the effectiveness of this thesis's study.