Řídící a senzorický subsystém mobilního robotu

Abstract

The goal of this thesis is to design control and perception system of a mobile robot. The control system is general purpose and modular, where the foundation is to drive a DC motor equipped with quadrature rotary sensor and wireless communication. The next element of the robot is a local and global navigation system. Both systems are connected by a bus which allows easy connection of other systems. Next goal is the application of magnetic angular rotary sensor used to scan DC motor revolutions. It is a special sensor containing a magnet and integrated circuit with Hall probes capable of detecting magnetic field above the surface. The magnet is fixed on the motor shaft opposite to chip’s surface. The sensor is contactless with variable output interfaces. It has quadrature interface with 9bit resolution.