Drive System Design of a Two-Wheel Differential Tracked Mobile Robot

Abstract:

This paper designs a drive system for a two-wheel differential tracked mobile robot. The system has two control modes: remote control and autonomous control, which needs two drive modes. We use a selection signal sent by the remote controller to realize the switch of two drive modes. Traditional MCU or ARM based PWM control system has poor system accuracy and anti-interference, and is complicated to realize the switch of two drive modes. In response to these issues, this paper presents a control method based on ARM and FPGA. FPGA completes motor drive, motor rotation speed calculation and the switch of two drive modes. ARM is used as an upper controller in the autonomous mode. Experiment proves that the result of our method is achieved quite satisfactorily: PWM signal can be generated accurately and the switch of the drive modes is convenient. The drive system has high reliability and flexibility.

• Periodical: Applied Mechanics and Materials (Volumes 336-338)
• Pages: 1072-1075
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.336-338.1072
• Online since: July 2013
• Authors: Lin Cai, Xiao Guang Zhao, Chong Meng
• Keywords: Drive System Design, Field-Programmable Gate Array (FPGA), PWM, Tracked Mobile Robot

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