Design and implementation of a hierarchical control system for wheeled mobile robot

To improve the control system performance of wheeled autonomous mobile robots, an embedded control system was designed and implemented with advanced microprocessor. Based on the hierarchical control method, two processors were applied to different control levels so as to attain complicated high-speed algorithm and real-time control. Multiple sensors were introduced to sense the environmental conditions with implemented via fuzzy logic for accurate control of moving route. Then, an actual status of target position could be judged visually. The system thus acquires many advantage such as modular structure, control flexibility and high reliability. The actual application results revealed that the system is good at both real-time response and robustness.