On the Embedded Control System for Autonomous Mobile Robot

摘要

To improve the control system performance of wheeled autonomous mobile robots,an embedded control system was designed and implemented with advanced microprocessor.Based on the hierarchic control method,two processors were applied to different control levels so as to attain complicated high-speed algorithm and real-time control.Multiple sensors were introduced to sense the environmental conditions with implemented via fuzzy logic for accurate control of moving route.Then,an actual status of target position could be judged visually.The system thus acquires many advantages such as modular structure,control flexibility and high reliability.The actual application results reveal that the system owns good real-time response and robustness.