Embedded control system design for intelligent wheeled mobile robot

Abstract

In order to optimize the control system of intelligent wheeled mobile robot,an embedded control system based on ARM and CPLD is proposed.The modular design method is used in the hardware design with ARM and CPLD as core processor.A kind of RTOS, μC/OS-Ⅱ,is used in the software design, and algorithms for speed control of motors is designed. The control of driving motor module and ultrasonic sensor module are realized in the system.Results of simulation and experiment indicate that the system has excellent stability and flexible control characteristics,and can reaches the anticipated designing purpose.