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2009222009 Asia-PacificAAAsia-Pacific ConferenceCCConference oonon IInformationInformation ProcessingProcessingProcessing
Embedded Control System Design for Autonomous Navigation Mobile Robot
Wei Wu,Geng HaiFei,GuoYan
School of Automation Science and Engineering, South China University of
Technology, Guangzhou 510640, P. R. China
E-mail: eeweiwu@126.com
Abstract—this paper presents Embedded Based Control
II.
ROBOT PLATFORM
System Design for Autonomous Navigation Mobile Robot. A
hierarchical control systems that based on multi-processor is
given, including the main control system based on the
S3C2440, subordinate control system based on the
IDM240/640 and PC control system; we also describe the
design method of control system from hardware to software
detailed.. The robot can achieve visual navigation and
manner to reach the target point timely and accurately in the
complex unknown environment.
Our robot platform is composed of control systems,
sensors, running institutions, communication system and
power system. The whole size is 460mm Ч 480mm Ч
250mm, as shown in Figure 1. The Control System can
divide into main controller and auxiliary controller. The
main controller is S3C2440, the auxiliary controller is
IDM240/640.Infrared sensors which for short distance
measurement are connected to the AD module of
IDM240/640, and ultrasonic sensors are used for long
distance measurement. GPS module are Used for
orientation. Intensity sensor is used for detecting collision
efforts.
Keywords- Embedded; S3C2440; IDM240/640; navigation;
I.
INTRODUCTION
Mobile Robot is an important branch of robot study, it
is a multi-subject composed by mechanical engineering,
motion control, computer science and many other subjects.
There is a variety of the mobile robot hardware
a
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