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Abstract
MobileRoboticsisoneofthemostimportantresearchareasofRobotics.A
mobilerobotiscomposedofmovingstructure,sensingsystemandcontrolsystem.
Focusingonthesensingsystemandcontrolsystemforwheeledmobilerobotworking
inanunknownenvironment,theresearchofthearchitecture,sensorsignalprocessing
andfusion,motioncontrol,localizationandobstacleavoidancearepresentedinthis
thesis.
Firstly,theresearchonthehistory,trend,architectureandmotioncontrolfor
mobilerobotsarereviewed,andthebackground,mainresearchcontents,andthe
researchsignificanceofthisthesisareintroducedatthesametime.
Secondly, the characteristics and application limitations of the
Sense-Model-Plan-Actstructureandbehavior-basedstructureareanalyzedinthis
thesis.BycombiningtheSense-Model-Plan-Actstructurewithbehavior-based
structure,ahybridstructurebasedonmulti-DSPparallelprocessingforamobile
robotisputforward.Onthebasisofthishybridarchitecture,thehardwareand
softwareimplementations,andcommunicationnetworkforthemobilerobot
CASIA-1designedbyusisgiveninthisthesis.
Thirdly,amulti-DSP-basedsystemwithCANcommunicationbusisputforward,
tocontrolthesensorsandprocesstheirsignalsformobilerobots.AsforCASIA-1,the
principleanditsimplementationofsignalprocessingofinfrared,ultrasonicand
tactilesensorsaregiven.Theprocesseddataoftheabovesensorsarefusedwiththe
Dempster-Shafertheory.
Fourthly,TheservosystemofCASIA-1isdesignedandimplementedwiththe
adaptivefuzzyPIDalgorithm.Kinematicsfordifferentialdriverobotsisanalyzed,
andthenformulasareinducedtodescribeforwardkinematicsforstraight,rotating
andarcmotion.Asanexampleofsolvingtheinversekinematicsfordifferentialdrive
robots,theleftandrightdrivingwheelsvelocitiesandtheirdifference,whichare
neededtomovearoundacirclewithradiumofr,areobtained.Themotioncontrol
softwareofthemobilerobotCASIA-Iisprogrammedwithassemblylanguageof
DSP
Fifthly,thelocalizationprinciplebasedonodometerisanalyzed
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