2020 IEEE International Conference on Power, Intelligent Computing and Systems (ICPICS)
Research on Embedded Intelligent Robot and Its
Motion Control System
Yufeng Liang
School of Innovation and Entrepreneurship Education
Dalian Jiaotong University
Dalian, China
lyf176@vip.qq.com
Abstract—The realization of an intelligent robot and its
motion control system requires a combination of various
hardware and software modules such as processors, infrared
sensors, motion control, and geomagnetic navigation to
accurately control the robot's basic movements and walking
lines to avoid movement Robot collision or abnormal state.
This paper uses the Windows software operating system,
Visual C++, etc. to develop and design mobile robot embedded
control programs, application processing modules, and
multi-task mechanisms to achieve algorithmic tracking and
tracking of mobile robot motion paths control.
Keywords—Embedded, Intelligent robot, Motion control,
System
I. INTRODUCTION
At present, most intelligent robots use microprocessors
and common programming languages such as C language
and Visual C++ to design a variety of application functions
and control algorithms[1]. This relies on standard operating
systems, program development frameworks, and standard
bus structure, I/O hardware connection mode, the
developed mobile robot motion control system will get rid
of the problem of singular and closed storage of traditional
EPROM data information, strengthen the hardware and
software architecture in the system, and interface with
external network devices and sensors[2]. The
interconnection between each other enables the entire robot
control platform to share data, and finally completes the
control and testing of various walking routes and actions of
the robot.
II. HARDWARE STRUCTURE OF EMBEDDED INTELLIGENT
ROBOT SYSTEM
A. Processor Module
The intelligent robot main control chip selects the
LM3S615 chip, which is an ARM7 series Cortex-M3 32-bit
architecture, which can be used for automatic control of
digital processing plants, buildings and other spaces, can
provide users with more precise functional service
requirements, and has more Low price. The chip uses the
Thumb-2 instruction set and the operating frequency is
50MHz, which can help users set the priority level of the
interrupt controller (NVIC), and provide write clear,
decrement, self-loading counter, privileged mode, etc.
Ensure system security during data access and storage.
There are 2 fully programmable serial port transceivers,
integrated I2C bus, with independent 16x8 transmit (TX)
and 16x12 receive (RX) FIFO, which can be used in
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two-way data At the same time of transmission, the burden
of the interrupt service on the CPU is reduced to complete
the flexible configuration of the interrupt priority.
Afterwards, the three PWM signal generation modules,
including counters, comparators, and signal generators, are
mainly used for infrared emission in the circuit. And motor
drive [3-4].
B. Power Module
The power module includes three components: motor
power supply, motor drive, and system modular power
supply. In this paper, the battery charging mode is selected
to provide power for the intelligent robot motor. The rated
voltage of the motor is controlled between 9 ~ 12V, and the
input current of the motor is 120mA. Therefore, the use of a
2000mA / h battery can meet the basic work requirements.
Moreover, the battery will reduce the voltage value while
the power is reduced, and it will also affect the normal
operation and control of the motor, so the maximum voltage
value of the motor must also be adjusted in time[5]. By
selecting the ASM1117 power chip and the TA780sF linear
voltage chip, the output voltage value is adjusted to about 5
V to effectively ensure the stable operation of the wireless,
main control chip, geomagnetic navigation and other
modules.
C. Infrared Sensor Module
The entire process of intelligent robot travel and motion
control requires infrared sensors to be involved. Infrared
sensors are mainly used to identify directions and identify
obstacles, etc., and include a transmitter head and a receiver
head[6]. The transmitter head emits a certain frequency to
the outside. Infrared, and then the receiving head receives
the infrared, and the internal decoding circuit, automatic
gain circuit, band-pass filter circuit make the frequency
discrimination of the sensitive signal, and the main control
processor detects the change of the voltage of the receiving
head to achieve Obstacle distance, direction and other
information measurement. The main control chip controls
the infrared emission head through the current limiting
resistor, adjusts the infrared emission intensity, and uses 6
sets of infrared transceiver modules to detect the distance in
front, back, left, or diagonal directions [7].
D. Motion Control Module
The motion control module is the most critical part of
the intelligent robot's motion control, including the motor
encoder, mechanical power structure, drive circuit, etc., if
the intelligent robot's motion control module fails, it cannot
934 July 28-30, 2020•Shenyang, China
 complete the follow-up application and control algorithm
instruction requirements [8]. The closed-loop control of the
stepper motor is selected, and the feedback device of the
power source is added, such as the encoder feedback device,
to control the motor steering, speed, or angle of rotation.
Later, in the design of the mechanical power
transmission structure of the intelligent robot, metal
brackets, wheels, bearings and other components are usually
used to complete the construction of the main structure of
the robot. The wheel gears must match the parameters of the
motor gears, and then different types of fixed brackets must
be purchased., Nuts and other components are to achieve the
construction of the overall mechanical structure of the
intelligent robot. Here set the motor sampling period to
10ms and motor speed to 15r/s. Then design the drive
circuit around the motor, select the L298 drive chip, H
bridge circuit to control the output power of the motor drive
circuit. The input end of the drive circuit is directly
connected to the main control chip, and the power supply
mode of the drive chip is adopted [9]. The motor power
Fig.1 Thread Architecture Diagram
The user can use the wireless transmission serial port to
represent the coordinate information, rotation angle, motor
speed, etc. of the current intelligent robot, as well as the
battery voltage and current working conditions, using a
series of waveform comparison curves to represent,
respectively labeled as coordinate points (x, y), Motor speed
r, motor speed r/s. Through the above software and
hardware settings, it can basically ensure the detection of
intelligent robot motion parameters, control program
execution and function expansion. Among them, posture
status monitoring, that is, the angle of robot motion for
monitoring, it is necessary to use infrared sensors to collect
input signals and return them to the main control chip of the
mobile robot for posture analysis. Path tracking usually uses
corresponding algorithms to calculate the changes in the
control signal of the drive system [11]. The sensor gimbal
control module mainly multiple infrared sensors are used to
monitor and control the motion information of intelligent
robots at different angles, and the communication module is
responsible for data communication between the motion
control and the main control chip [12].
In order to ensure the real-time response of the
intelligent robot control system, adopt the API control
function predefined by Windows, make priority
arrangements for thread tasks in different areas and different
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supply and voltage control are completed through the two
input and output terminals of the motor M1 and M2. Pay
attention to the positive and negative electrodes when
entering, and the voltage range in the entire circuit is
controlled between 5 ~ 7V [10].
III. SOFTWARE FUNCTION DESIGN OF EMBEDDED
INTELLIGENT ROBOT SYSTEM
This intelligent robot is based on the two channels of the
ADT-850 motion control card and controls the left and right
wheel drives of the intelligent robot car body. The operation
functions of these wheel channels are packaged into
corresponding development library functions, which are
defined as CAdt Motor Ctrl functions. Using other function
instruction programming to control the movement, rotation,
or other posture states of the intelligent robot system can be
defined as Robot ActionCtrl and other functions. Therefore,
in the embedded intelligent robot system, the thread
architecture of specific task instruction priority is shown in
Figure 1 Shown:
time periods, and place path tracking, posture status
monitoring, etc. at the highest priority position. Real-time
acquisition of high-precision data signals, through the
arrangement of different thread priority levels, to solve the
problems of system response triggering, thread resource
contention, etc., among which the DT85 motion control card
can independently process commands without the help of
the main control chip. Events such as hard interrupts and
emergency stops will further enhance the real-time
effectiveness of the entire control system.
IV. RESEARCH ON MOTION CONTROL ALGORITHM BASED
ON EMBEDDED INTELLIGENT ROBOT
The motion path of the intelligent robot in the plane will
be affected by the movement of the car, the sliding of the
tires or the sand on the ground as the walking distance
continues to increase, and the deviation of the
administrative route and the speed of movement will occur.
The gap between the expected trajectories can be adjusted
by infrared distance sensor probes and motion control
algorithms to adjust the robot's movement route. In this
paper, the motion control path tracking algorithm is selected
to accurately analyze the kinematics of mobile robots and
build a perfect Mathematical model of the state feedback
path. First set v left and v right as the speed of the left and
right wheels of the intelligent robot, then its angular velocity
 and linear velocity are ω = V right -V left/W, V=V left + V
right/2, where W is the distance between the left and right
wheels of the robot.
According to the above data, the intelligent robot pose
Fig.2 Trajectory Path
Assuming that f ( x, y )=0 is the trajectory path equation
expected by the intelligent robot, and ( x, y ) is the current
coordinate position of the robot, you can get x  v cos ,
y  v sin 
and  = , so that you can the displacement
control quantity is converted into linear velocity v and
angular velocity control quantity. Set d  f ( x, y ) , then.
d  f x * x  f y * y  f x * vcos +f y * vsin [14].
Then perform function decomposition
fx and fy again
get d  f xx * v2cos 2  f yy * v2sin 2  2 f xy v 2
sin  cos   ( f y * v cos   fx * v sin  ) .
Therefore, in the d  f ( x, y ) equation =f y* vcos
 -f x* vsin . [15]
For the desired trajectory equation f ( x, y )  0 , the
radius of curvature of each point in the trajectory is R ( x, y ) ,
then the relationship between the radius of curvature and the
V, ω parameters of the intelligent robot is R( x, y )  V /  .
So in the whole equation V  Vleft  Vright / 2 is usually kept
constant, then only the angular velocity   Vright  Vleft / W is
required, that is Find the control ratio of Vright  Vleft . Since
the d  f ( x, y ) equation is limited by the value of Δ, Then,
at D = f (x, y), it is necessary to control the value of
value =f y x  f x y of the trajectory equation, which can be
converted into a function curve equation d  f ( x, y ) slope
k1 , k 2 solution problem[16].
Assuming that the expected trajectory of the intelligent
robot is x2  y2  16  0 , the average linear velocity is
0.2m/s, and ω=0.05rad/s, then if k1 and k 2 are If it is small,
the control time for V right -V left to reach stability is poor.
If the values of k1 and k 2 are large, unstable fluctuations may
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coordinate formula is (X, y, θ), (x, y) is the position of the
robot's center coordinate in the origin coordinate system,
and θ is the angle between the intelligent robot and the x
axis, assuming The expected trajectory path of f (x, y) = 0 is
shown in Figure 2[13].
occur, so it is necessary to choose a suitable k1 the value
of f y * keeps it moving like a circle on the desired
trajectory[17].
V. CONCLUSION
The motion control of the embedded intelligent robot
mainly adopts technologies such as Windows operating
system, Visual C ++ programming, and multi-threaded task
processing mechanism to complete the function debugging
on and program design of the entire control system. The
to motion module is constructed for the entire intelligent robot
motion control. The core, through the use of motion control
algorithms, determines and manages whether the robot can
do various actions and route movements, which can
effectively meet the mobile robot's mobile control needs.
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