Design of Mobile Control system for wheeled Mobile Robot based on embedded ARM Technology

摘要

The mobile control of the wheeled mobile robot is affected by local disturbance error, which leads to low control precision. A mobile control model of wheeled mobile robot based on RTK-GPS (real-time kinematic GPS) is proposed. The mobile control system of wheeled mobile robot is designed with embedded ARM technology as the core processor of controller. Firstly, the mobile control algorithm of wheeled mobile robot is designed. The attitude determination parameter of wheeled mobile robot is taken as the control constraint parameter, and the attitude determination control of the wheeled mobile robot and the path map traversal of attitude parameter output are processed. According to the coordinate position of the locus map, the robot's moving location is carried out, and the trajectory following adjustment is realized by RTK-GPS technology, and the control law is optimized. Then the hardware of the control system is developed under the embedded ARM technology integrated information processing environment. The robot attitude adjusting system, the central integrated control module and the man-machine interaction module are designed and described in detail. The system test results show that the proposed method has better output performance, lower attitude determination error and better control convergence of wheeled mobile robot.