| The main purpose of this paper is to research the movement control and navigation and positioning of the wheeled robots, which rely on the navigation control technology of MEMS gyroscope wheeled robot. The gyroscope can provide real-time Angle signal, combined with accurate sampling of double free encoder, and propose the motion control system project of the robot, which is based on the robot course angle and photoelectric encoder. The paper involves the whole framework of the robot, the robot motion control algorithm theory, the realization of robot navigation method and algorithm software and so on. Digital PID intelligent control algorithm and Kalman filter algorithm would be applied to the control system of robot navigation, and it, to a great degree, improves the accuracy and stability of the motion. It also refers to the key parts of the hardware design and circuit analysis.Intelligent robots control could not be left with the application of the embedded technology. The paper design a control project, which based on the STM32F103RBT6microprocessor, with ARM Cortex-M3core, as its host MCU and C8051F310as its slave MCU, and carries the μC/OS-Ⅱ real-time operating system on the main MCU. It realizes a single-master and multiple-slave control mode, to improve the multitasking capability of control system.The paper is bold in innovation on the collocation of control method and hardware circuit of the control system. The whole control system is characteristic for its stable control mode, easy expansion and so on. In chapter6of the paper will tell the robot’s hardware and software realization platform, and this platform has been used in the some domestic robot competition in recent years and verified its feasibility. |
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