Design of Control System for Mobile Robot Based On DSP Processor

摘要

To improve the control system for autonomous mobile contest robot, a high-performance DSP processor is adopted. The system is designed with modular structure to form a flexible platform. Multiple sensors are used for environment detection in order to provide synthetic information. Considering the discrete arrangement of infrared sensor, fuzzy logic control is introduced into the navigating control to implement accurate navigation-line tracking. Singular vision unit is added to acquire higher intelligence in the field. To make the algorithm easy for DSP, a simplified formula is used and good experimental result is acquired in the field. The excellent contest result shows that the system owns good real-time response and robustness.