Dsp-based Wheeled Mobile Robot Control System Design

Robot technology integrated precision machinery, microelectronics and computer, automatic control and drive technology, sensor and information processing, artificial intelligence and bionics, and other disciplines of the latest research results, is a comprehensive interdisciplinary technology. It not only changes traditional industrial production and scientific research, and also will have a deep impact in people's life. At present, mobile robots because of its practicality and intelligence, attracts more and more people's attention in the study of robotics.In this paper, a design of wheeled mobile robots that based on TMS320F2812 is introduced.To Design the robot, the first need is to detailed analysis and design the system architecture of the mobile robot, which including mechanical structure and electrical structure in two parts. The mobile robot's mechanical structure uses common structure of wheeled mobile cart, and move with wheel differential drive mode. And its electrical structure includes processor modules, data acquisition modules, actuators and drive control module and other modules.Then according to its electrical system architectureo, the control system hardware is designed and implemented, which including the DSP minimum system, power supply module circuit, keyboard and display circuit, data acquisition circuits, communication circuits, driver board circuit and act.Finally, the control system software is to be designed and to be compiled basing on the components of its hardware. The program is able to complete the task of displaying the data of sensors, realizing non-tracing-navigation exercise without reference, accomplishing tracing-navigation exercise when the ground with white lines, ripping and moving objects.In the designing of this robot system, in order to make it a sustainable development capacity, the system reserved a sufficient number of I/O interface and communication interface, making it's simply to achieve the robot extension by increasing sensors and other devices.