Design of Motion Control System of Rescue Robot Based on ARM

Abstract

A rescue robot motion control system is designed and implemented with integrated hardware design based on ARM platform with STM32F103 as the core processor. By making full use of the high-speed operation and processing capability of the microprocessor, the rescue robot could move smoothly. The motor speed of the robot is controlled by adjusting the PWM duty cycle generated by the microprocessor. The incremental PID algorithm is used to realize the closed-loop control of the motor, which improves the accuracy of the speed control system and enhances the controllability of the rescue robot. The experimental results show that the rescue robot can run smoothly in complex road conditions under the remote control.