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Design of Mobile Robot Multilevel Control System Based on Multi-processor and Study of Autonomous Navigation in A Complex Environment

Author: GengHaiFei
Tutor: WeiWu
School: South China University of Technology
Course: Control Theory and Control Engineering
Keywords: Mobile robot Multiprocessor Rolling optimization Particle swarm optimization
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 98
Quote: 1
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Abstract


With the scientific and technological progress and the development of robotics , robots and more widely . The mobile robot research and development of more and more people pay attention . People no longer merely requires that the mobile robot can do simple Road King planning but also for its autonomous navigation in complex environment , smart , robustness , and security . To this end, this paper embedded technology developed mobile robot control system based on ARM DSP multiprocessor , and on this basis , the use of rolling optimization strategies and particle swarm optimization combination method to achieve autonomous navigation in complex environments . The article first analyzes the domestic and international the embedded mobile robots status quo , and on this basis, focusing describe the system design process , including the implementation of the architecture of the hardware platform and software platform . Followed by the description of several commonly used path planning algorithm , given their respective strengths and weaknesses , and ultimately select rolling optimization strategies and particle swarm optimization method of combining path planning , and an adaptation to a higher degree of fitness function . Finally, the simulation results . The experiments show that the design of control system capable of autonomous navigation in a complex environment , with good robustness . The features of this paper are: ( 1) multiprocessor hierarchical control , in order to ease the pressure main control module multiple interrupt sources frequently interrupt , to avoid loss of sensor data acquisition to significantly enhance system responsiveness and stability of operation ; ( 2 ) Select the rolling optimization strategies and particle swarm optimization method of combining mobile robot autonomous navigation in complex environments , and an adaptation to a higher degree of fitness function , improve the ability of obstacle avoidance , enhanced a security system ; ( 3 ) the control system uses the embedded system design , including ARM9 DSP - based hardware platform and software platform based on the Linux operating system , give full play to the ARM and DSP respective advantages , and multi- task scheduling to improve the efficiency of the system .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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