An integrated control system for the subsets of a mobile robot

[摘要] ENGLISH ABSTRACT:This project, tided An Integrated Control System for the SubsetJ of a Mobile Robot, concerns the integration of subsetsfor a mobile robotic system developed in the past. It was found that these subsets would not integrate withease and that integration was not taken into account when the subsets were developed. The complete problemstatement is given in chapter one.Before trying to solve the problem the author did a literature review to eqwp her with the necessaryknowledge and skills needed to solve the problem. The literature reviewed included topics like ComputerIntegrated Manufacturing (CIM) and Mobile Robotic. A thorough study of the developed subsets was alsocompleted.The proposed control system is software-based and developed in three programming languages:e TURBO PASCAL,e BORLAND DELPHI, and:> MA1LAB.The DELPHI and MATLAB programs run on the base station. This computer communicates with theMOBile ROBot used in this project (MOBROB) using RF communication hardware and software. Thissoftware is part of the DELPHI programs. The DELPHI program is the starting point. This program thencalls the MATLAB programs or sends data to the robot. It is important to set the hardware as prompted.The process basically consists of creating path files on the base station. These files are then sent to the robot.The robot then drives to a destination, updates its position and sends the new position back to the basestation.The onboard programs used by the robot were developed in TURBO PASCAL. These programs areresponsible for the control of the robot's hardware. The control system is discussed in detail in chapters five,sUtand seven.The project was completed successfully and all the objectives set at the beginning of the project were met.These objectives are given in chapter one. This document consists of four sections. The first section is the introduction, the second section the literaturereview, the third section discusses the control system and the fourth section discusses the results and containsconclusions and recommendations.

[发布机构] Stellenbosch University