Modular Design and Implement of a Small Mobile Robot System Platform
|School||Huazhong University of Science and Technology|
|Course||Control Theory and Control Engineering|
|Keywords||Mobile robot Modular Hierarchy Embedded Systems|
This article describes the design of a modular and hierarchy of the mobile robot platform , the purpose is to design a modular , universal mobile robot platform so that researchers can choose different modules according to their requirements through a simple combination of building conform the requirements of the mobile robot platform . Because most of the small mobile robot control system using embedded technology , the development of the mobile robot platform with embedded technology progress closely linked together. Small mobile robot platform paper designed not only to contribute to the research in the field of robotics is also an ideal research and verification of embedded technology platform . This paper discusses the robot platform modular design of the hierarchy , the system is divided into three levels : the main control layer sensor control layer and driver layer , can be equipped with a variety of communications , sensor module . Depending on the design of the module , and a detailed description of the design of the interface between the modules . The system uses ARM9 , and M16C two processors , efficient inter-processor communication will be the key to enhance the performance of the entire system , so inter-processor communication protocol as an important part of the platform are described in detail in the text . The entire platform also includes a monitoring platform running on remote terminal , through wireless Wifi communication with robots . Remote monitoring platform can be achieved between the operator and the robot interaction . Last show produced the prototype of this design approach , and test a prototype automatic obstacle avoidance function , initially to verify the feasibility of the system .