Design and Control of an Intelligent Wheeled Robot

摘要

Mobile robotics is an emerging interdisciplinary, which lacks a standardized architecture. With the development of embedded system, Raspberry Pi has become a new control scheme for mobile robots with powerful processing ability, convenient network connectivity, real-time display of images and videos. In this paper, a wheeled mobile robot is designed. The kinematic model of the robot is developed. A series of experiments of motion control are conducted. A control strategy is proposed based on an attitude detection sensor and ultrasonic sensor to enable the robot with the capability of state perception and autonomous obstacle avoidance. The experimental and simulation results in different environments demonstrate the effectiveness of the developed wheeled mobile robot.