Study on Motion Control System for Wheeled Mobile Robot*
A novel mobile robot platform is presented in this paper, which adopted the architecture of two wheels differential drive and multilayer stack mechanical structure and used a special embedded computer PC 104 as the kernel of the robot motion control system. The control system includes modules such as PWM driver, ultrasonic sensors, decision-making system, wireless communication, digital compass, power supply, executive mechanism, motion control system and so on. The kinematical model and a new PID motion controller based on the parameter distributor are also presented in this paper. This control scheme can overcome weak angular rate bias control arising from the slippage of the wheels. The designed robot platform has been tested in indoor lab for over 3 months. The experimental results demonstrate that the mobile robot control system based on PC104 is feasible and effective.
embedded computer motion control modeling PID mobile robot
ZENG Dehuai ZHONG Jinming XU Gang
School of Mechatronics and Automation, Shenzhen University, Shenzhen, 518060;South China University School of Mechatronics and Automation, Shenzhen University, Shenzhen, 518060
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）