Study of navigation methods based on embedded dual-encoder

Abstract

Based on the independent-research differential-driven robot platform, establish a robot motion model with dual-coding positioning system to provide the information feedback to robot navigation with the obtained robot's position and attitude information. The feedback will restrain the parameter difference between two wheels and the impact of control performance caused by external disturbance so as to enhance the robot ability of adaptability. Use dedicated motor driver to drive travelling motor and acting motor and control it with position loop to improve the control accuracy. Microcontroller and FPGA coordinate to control the robot and implement the positioning navigation algorithm.