Study on a single chip computer controlled multi-wheel intelligent-surmounting obstacle vehicle model

This paper studied the mechanism of a multi-wheel intelligent-surmounting obstacle vehicle and its principal controlling technical routine with single chip CPU. The model vehicle mounted many wheels with gear transmission; the controlling system use Freescale 16 bites MC9S128 single chip CPU as the core controlling unit, some touching switches used as obstacle detection sensor. By effective signal treatment, the basic function of the vehicle, such as steering engine turning, rod lifting, wheel backward retraction and return after over obstacle is performed correspondingly. The experiment shows that this model vehicle can realize automatic surmounting obstacle without moving direction change through multi-wheel coordination.