Research And Implementation Of Unmanned Vehicle Control Platform Based On UCOS

With the development of smart mobile devices technology, unmanned operation is widely used in life, and unmanned vehicle is one of the representative, which focused on the applications of civil and military. Compared with the traditional manned operation, unmanned operation has the advantages of not appearing the tiredness of the long time driving and entering the dangerous workplace, etc.Unmanned vehicle consists of ontology, controller, data collection, software algorithm and other important units, the above parts will affect the normal running of the unmanned vehicle.The subject of this article is about designing a suitable unmanned vehicle for the campus road. The design of unmanned vehicle needs to consider ontology, controller, data collection, etc.On the choice of unmanned vehicle body combines the difficulty of mechanical transformation degree and the drying means.The design of the controller considers the expansibility of the system, the processing ability and the degree of integration.The design of the driving system combines the difficulty of the mechanical transform, driving mode and controling mode. The information collection consider the scenario, access and the information synthesis of multi-sensor.Above all,unmanned vehicle chooses electric atv, the design of the controller chooses ARM framework of STM32 processor as the core, the driving structure chooses the structure of motor and synchronous belt, and data collector bases on camera, ranging, position sensor, etc, and uses DSP, MCU, ARM processor for distributed data processing.The design of the unmanned vehicle is based on the electric atv, uses module design on the purpose of simplifying the complexity of the design.First analyzes the atv body, and makes necessary change of he machine structure with simple and effective way.Firstly, designed the position of installing the steering motor, and make enough space to install synchronous belt and synchronous transmission structure of the wheel.Secondly, designed the structure of the braking system and the installation location.Then analyzed the control method of unmanned vehicle and the way of access to information, determined the composition of the hardware structure, adopted the modular design, including the main controller module, power management unit, the image acquisition unit, display and light unit, signal acquisition unit, steering and braking motor unit, the motor drive unit. On the basis of demand analysis and the hardware module, designed software flow chart, including the main control panel program design, image acquisition software algorithm design, software design of signal collection, data transmission protocol, unmanned vehicle decision-making and control. Finally, on the basis of the above design of hardware and software, makes the software and hardware joint debugging.Combining with the concrete road environment, the targeted algorithm was used to collect information and control the motion of the vehicle. This implements extension and tailoring of hardware and software, and makes unmanned vehicle runs stably.