The Design Of Tracked Robot Controller Based On ARM

At present, more and more attentions are paid to the research of intelligent mobile robot. The application areas of robot have involved cleaning, entertainment, security, daily life, and other fields. As an important part of intelligent mobile robot, caterpillar intelligent mobile robot has a strong adaptability to the ground and obstacle-climbing and it can allow large thrust. What’s more, the system is stable and reliable that it can go through a variety of complex terrain features in a bad environment, thus it is used more and more widely. In this paper, the tracked robot controller is designed and the algorithm of obstacle avoidance is realized. The main contributions include the following aspects.1. The hardware structure of the robot controller is designed by using the ARM9(AtT91RM9200) processor, and eventually the tracked robot controller hardware platform is built based on the need of this paper.2. Through the modification and confirmation of the embedded operating system, the operating system uC/OS-Ⅱ is applied to the robot controller eventually.3. Based on the kinematics and dynamics modeling of the tracked robot, the indoor mobile robot basic sports libraries are designed. Also, the corresponding motion control methods are given and the robot move, acceleration, rounding the corner, and other basic motion are realized.4. An algorithm of obstacle-avoiding and motion planning for mobile robot is adopted. According to the analysis of the information detected by the ultrasonic sensor array about obstacles in the unknown environment, the rotation angle and rotation radius of the robot are obtained, and the moving speed value of the robot is selected from three values according to the distance. A real-time obstacle avoidance algorithm is proposed based on the kinematics model, and the movement of walking along the outline of the barrier is implemented. Experiments are carried out separately in environment with obstacle that has the outline of concave curve, convex curve, or closed curve. The final results show the effectiveness of the algorithm proposed.