Intelligent mobile robot control system based on PC+ underlying motion controller

[摘要] Open-structure mobile robot motion control system based on "PC + underlying motion controller" could take advantage of the high degree of good versatility, real-time performance, high processing capacity of PC, and high controlling capacity of underlying motion controller. And the overall design of the open- structure mobile robot motion controller based on PC + stm32 is developed, which contains the system control architecture, the layered architecture of the control system and the human-computer interface. An algorithm also proposed for estimating the robot's position and orientation, and the experimental system built for the prototype, provided the platform for moving, monitoring and automation. Experimental results of the proposed control system show that the open-structure mobile robot owns the stability, accuracy, rapid response and exact localization.

[发布机构] Nanjing Institute of Technology, Nanjing; 211167, China^1

[效力级别] 无线电电子学

[关键词] Experimental system;Human computer interfaces;Intelligent mobile robot;Layered architecture;Mobile robot motion;Position and orientations;Processing capacities;Real time performance