Design Of A Control System For Mobile Detection Robot And The Study On Obstacle Avoidance

As an important branch of the robot research field, mobile robot is a robot system which has the function of sensing environment, thinking and acting, sensing its own status and external environment through the sensors, moving to a designated location and performing a given task, which is a multiple system involving the subjects of sensor technology, computer technology, electronic technology, artificial intelligence, and machine engineering.First of all, the hardware and software of the control system for the mobile detection robot is designed and made, it used two-wheel differential drive structure and can be divided into three functional parts as motion control, environmental detection and monitor terminal, exchanging information between them by serial communication and wireless communication, formed a relatively complete system. The part of motion control consist of a master controller STM32F103RCT6microcontroller circuit, motor driver module, speed detection module, infrared moudle, ultrasonic module and wireless communication moudle(receiving), realizing autonomous moving, avoiding obstacle under the roaming mode and receiving and implementing wireless command under the remote control mode. The part of environmental detection consist of a slaver controller STC12C5A60S2microcontroller circuit, temperature, humidity, smoke sensor circuit and wireless communication module(sending), collecting the environmental information and transmiting by wireless. The part of monitor terminal consist of STM32F103RCT6microcontroller circuit, wireless communication module and interactive operation module, displaying information under the wireless receiving mode and sending the remote control command under the wireless transmission mode.Then, according to the mobile robot system model, the fuzzy control obstacle avoidance algorithm is introduced, an obstacle avoidance fuzzy control system is established using the MATLAB fuzzy control toolbox, it is checked by the robot motion model which is established in Simulink.Finally, each function of the mobile detection robot is tested and the testing result is well, basically meeting the design requirements.