PC denetimli bir mobil robot platformu tasarımı

Abstract

SUMMARY Vy As soon as the usage of wireless communication devices has been increased a lot, the automation of mobile systems has become a very popular subject. Mobile robots which are developed for this purpose have been used at various fields from factory automation to space researches. In this study, first of all, the general structure of mobile robots and automated guided vehicles are examined. Then a PC controlled mobile robot platform is designed for developing mobile robot applications. The platform is controlled by a microcontroller. Serial communication of microcontroller and PC is implemented. Three wheeled mobile platform are actuated by step motors. Obstacle avoidance of mobile robot is achieved with proximity sensors. A temprature sensor is added for monitoring the temprature of robot's surroundings. Robot is powered by battery and battery level is monitored by PC. Bumper sensors are mounted around the robot body, therefore robot is stopped by crash detection. Also a real time clock IC is added, so that time dependent programming of robot is intended. A user interface software is implemented for actuating the robot and monitoring the motion and sensory data. A serial communication protocol is implemented for PC-robot communication, therefore a software development infrastructure is prepared for researhers who want to implement their own soAware with this platform. Finally, a predetermined path is tracked to the robot for performance lest. Robot's track and target path are compared. Deviations and errors are marked.