Arm-based Mobile Robot Control System Design

Mobile robot is an important area of research, and mobile robot control system is the core of the whole robot system, which plays a vital role in the running of the mobile robot system. With the gradual intelligent of mobile robot and the continuous development of control algorithms, the general processors have been unable to meet system performance requirements, DSP, ARM and other high-performance microprocessors appeared in the development of electronic technology driven and have been widely used in the mobile robots, which are used for high-performance computing and control.First, the ARM processor-based mobile robot control system design is proposed.S3C2410 which is a 32bit embedded processor based on the ARM920T core is taken as the core controller, which takes the data input and output, data processing and information display. Linux is used as an embedded real time operating system software platform.Second, the mobile robot hardware has been designed in detail in this paper. The system hardware design is used the "core board-floor" design concept and is completed on the floor, as follows:power module design, data input and output interface circuit gyroscope navigation module design, serial circuit design, LCD display and CAN bus interface circuit design.Finally, real-time embedded Linux operating system migration work is completed and the Linux embedded system software platform is achieved for application development.This paper introduces ARM microprocessor as the controller, embedded Linux operating system as a development platform and introduces the micro-mechanical gyroscopes for mobile robot applications.Not only designs a more sophisticated mobile robot embedded control system,but also has good scalability and portability for the robot to the general aspects of the future and more complex laid the foundation for special applications.