With the rapid development of the automatic control theory and computer technology, the mobile robots technology has been developing fast and widely used in the industry, nation defense, space research, ocean development, medical assistance and other fields. Tracked mobile robot is a mobile robot with a special mechanical structure which has a large contact surface with the earth. It is suitable for walking on natural surfaces and can adapt to the soft and muddy road, which is not suit for other mobile robots. It also has good self-resetting and off-road capabilities, which has a broad application prospect in the fields of civil and military. The paper designed and realized a tracked mobile robot motion control system based on the ARM and FPGA. In order to further enhance the self-control performance of the robot, we also built the kinematic model of the tracked robot’s plane motion. The main content of the paper are as follows: First, the paper introduced the overall designing scheme of tracked mobile robot control system. We designed the body structure of the robot, and selected system controller, drive motor, photoelectrical encoder senor, ultrasonic transducer for the control system. Also it introduced the operating principle of velocity encoder, ultrasonic transducer and DC motor drive method. Second, the paper introduced the software system of the tracked mobile robot. It gave a detailed analysis of the PWM speed regulation, velocity encoder, remote control/autonomy switching, obstacle avoidance. The experiments showed that the software system can complete the corresponding function accurately. At last, the paper established a straight-line running kinematics model of the tracked mobile robot based on the kinematic model of the tracked robot’s plane motion and verified the effectiveness of the designed controller according to the simulation. It provided theoretical basis to increase the autonomy of the robot in the further research.
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