期刊名称：International Journal of Computer, Information, and Systems Science, and Engineering
印刷版ISSN：1307-2331
出版年度：2008
卷号：02
期号：01
出版社：World Academy of Science, Engineering and Technology
摘要：Nowadays, Wheeled Mobile Robots (WMRs) are built
and the control system that used to control them are made by
Electronic Engineers. Depend on their desire design of WMR,
Technicians made used of Microcontrollers as controlling machines
and DC Motors for motion control. In this paper, the author would
like to analyze how to consider the control system for the entire
Wheeled Mobile Robot using both hardware and software, based on
Electronic Control Techniques. Three authors are combined to make
their PhD Research on ¡°Development of an Intelligent Wheeled
Mobile Robot¡±. Therefore, this paper is mainly focus on overall
consideration of the entire Control System that will use to construct
an Intelligent Wheeled Mobile Robot. There are three main portions
of this control system; Obstacle Detection System, Navigated Control
System and Motor Driving Control System. Obstacle Detection
System used five IR sensors to detect the obstacle that means to
avoid and a Peripheral Interface Controller (PIC) 16F877
Microcontroller to drive the input analog signals into active digital
data of Navigated Control System. GP2D12 IR sensor is to be used in
this paper. Navigation System then gets these detail data of Obstacles
and control to avoid and drive the Robot as desire using Software in
PIC. As the driving system of DC motor, a PIC based control system
is designed including the assembly software technology and H-bridge
control circuit. This Driving system is used to drive three Motors: a
steering Stepper Motor and two DC gear motors which are used to
control the motion of WMR. For the Motor Driving System,
PIC16F84A is used and inputs of sensors detected data are derived
by the Navigated Commands. The outputs of PIC are the commands
to drive Motors. In this paper, Sensor Technology, Control
techniques of PIC microcontroller and H-bridge circuit, Mechanism
assignments of WMR are combined and considered to form the
effective control system of an Intelligent WMR.
关键词：Control System, DC Motors, H-bridge Control
Circuit, Intelligent Wheeled Mobile Robot, Motor Driving Control
System, Navigated Control System, Obstacle Detection System,
Peripheral Interface Controller (PIC), Sensor Technology, Stepper
Motor.
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