Design Of Mobile Robot Multilevel Control System Based On Multi-processor And Study Of Autonomous Navigation In A Complex Environment

With the progress of science and technology and the development of robotics, robots used more and more widely. People attached great more importance to the development of mobile robot. People do not only require a simple mobile robot path planning, and require it can complete autonomous navigation in a complex environment, it should be intelligent, robustness, secured. To this end, the paper designed a mobile robot system based on ARM&DSP multi-processor using embedded technology development,and on this basis we used rolling optimization strategy and particle swarm optimization method to achieve autonomous navigation in a dynamic environment.Firstly,We analyzed the current situation on embedded mobile robot at home and abroad,and on this basis gave the detailed designed process of the system,including the hardware platform architecture and software platform architecture. Secondly,We compared various path planning algorithms of their respective advantages and disadvantages, ultimately selected the rolling optimization strategy and the combination of particle swarm optimization method,brought forward a fitness function which was more fitness than before. Finally,We gave the simulation results. The experimental results showed that the control system could achieve autonomous navigation in a complex environment and has good robustness.This article features:(1) used hierarchical control of multiple processors to alleviate the pressure of the main module by interrupting frequently,avoided to loss the data of sensor,enhanced system responsiveness and stability of operation;(2) selected the rolling optimization strategy and particle swarm optimization method to achieve autonomous navigation in a complex dynamic environment,proposed a higher fitness fitness function,improved the system's capability of avoiding obstacle,enhanced system security;(3) the control system was based on embedded system design,including hardware platform based on ARM9&DSP and software platform based on Linux operating system.The ARM and DSP could play their respective advantages fully,achieved multi-task scheduling,enhanced efficiency of the system.