Developing ARM Cortex-M4 based mobile robot

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Nagy Ákos
Department of Automation and Applied Informatics

As part of the course called ’Applied computer systems laboratory II’, the ’Navigation system of an autonomous robot II – the dead reckoning method’ is an education practice for electrical engineering students on the way to the master degree.

The primary purpose of the course is to provide practical experience with the foundations of the robotics. During this particular practice the students have to calibrate the movement control algorithm of a mobile robot using the UMBmark method, which is a benchmark test for measuring and eliminating odometry errors.

In this thesis the whole practice is revieved and redesigned, including the recreation of the mobile robot itself. Along with the new specification, the redesigned hardware and software functions will be introduced, such as the servo motor based moving system, the movement control algorithms using the measurements of the magnetic encoder sensors, and the bluetooth based wireless communication and reprogramability via the implemented bootloader. Additional hardware components will also be explained, such as the analog circuits controlling and recharging the accumulator capacity, as well as the gyroscope and accelerometer sensors.

As part of the thesis, a new client (PC) application will also be implemented, allowing the students to control the robot remotely using the bluetooth communication. It also offers some debugging possibility, scanning and recalibrating the essential parameters of the software running on the robot.

At the end the new systems will be tested considering the expected requisitions of the upcoming student practices. Possibilities of further developments will also be specified.


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