Laser Range Finder Applying in Motion Control System of Mobile Robots

摘要

We have been designed a module based mobile robot applying in the intelligent life space. The mobile robot is constructed using aluminum frame. The mobile robot has the shape of cylinder and its diameter, height and weight is 40 cm, 80 cm and 40 kg. There are six systems in the mobile robot, including structure, avoidance obstacle and driver system, software development system, detection module system, remote supervise system and others. In the avoidance obstacle and driver system, we use NI motion control card and MAXON drivers to control two DC servomotors of the mobile robot, and detect obstacle using laser range finder, sixteen reflective IR sensors and sixteen ultrasonic sensors. The mobile robot measure the range of obstacles using decision tree method, and find out the free space to move autonomously. We develop the user interface of the avoidance obstacle for the mobile robot. Finally, we control the mobile robot to avoid obstacles according to the programmed trajectory. The mobile robot can avoid obstacle using laser range finder, and follow the programmed trajectory.