| Since the 21 st century, the development of robot technology has reached an astounding advances. The mobile robotic field is being received much attention from all over the world, which makes the study of mobile robot application shift from early military and industrial fields to the development of household, medical, transportation and other fields. With the development of the function of mobile robot and control algorithm, the general single centralized control structure has many disadvantages, such as less feature, low reliability, poor expansibility. Therefore, this single level architecture has been unable to meet the functional requirements for mobile robots.On the basis of consulting a large amount of relevant data, analyzing the performance requirements and development trend of mobile robot, this paper has designed a distributed control system for mobile robot. First of all, this paper introduces the research status and development trend of mobile robot, the hierarchial structure of the mobile robot system, then puts forward the mobile robot two-levels of master-slave distributed control structure. Secondly, the paper analyzes the two wheel drive mobile robot kinematics model of the mobile robot, and deduces mobile robot kinematics, and combines with the functional requirements for mobile robot designed mobile robot mechanical structure: three layer framework, two-wheel driver and two-wheel mechanical structure follower. Then,this paper has designed a mobile robot of two levels of master-slave distributed control system, hardware is the core of the mobile robot system with ARM9, with CAN bus communication for mobile robot system, by adopting the idea of modularization to two levels of master-slave distributed system is divided into master control systemm, motion control systems and information collection system. And this paper introduces the communication layer design for mobile robot, and gives the definition of CAN bus application layer protocol. Furthermore, this paper uses the modular programming ideas to completing the software design of the mobile robot system. The software design of the system can be divided into two parts: The first part, building the master control system software platware and transplantation of the embedded Linux system master control system, on the basis of this writing the matrix keyboard driver and CAN-bus driver. The second part, the software design of motion control system and information acquisition system, mainly including the system function of motion control software design, speed measuring module software design, electronic compass measurement software design and ultrasonic ranging software design. Finally, the debugging and experiment of the two-levels of master-slave distributed control system for mobile robot show that the design of distributed control system runs stably, and it has a good stability and extensibility, which laies a certain foundation for the future research and extension. |
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