Abstract:Robot appears more and more frequently in non-structural environment. The tasks robots take have increased steadily. MCUs with 8-bit CPU, such as MCS-51, cannot afford these requirements. MCUs with 32-bit CPU become the first choice for robots. This thesis proposes a control scheme for autonomous mobile robot. The scheme uses infrared and ultrasonic sensors for localization and obstacle avoidance, use DC motor for driving, and use the ARM chip S3C44B0X as CPU, which embed the embedded OS µCLinux. In embedded OS, the application programs have to access hardwares via devices drviers, so it is necessary to develop device driver for above hardware. This thesis described the details for developing device drviers for DC motor, infrared sensors and ultrasonic rangers. The application program for obstacle avoidance is developed also. The mobile robot can perform basic behaviours such as forward moving, backward moving, left turning, right turning and obstacle avoidance.
Keywords: Mobile Robot;Autonomous Obstacle Avoidance;Embedded Systems;Device Drivers