This thesis deals with the implementation of a mobile robot with ultrasonic sensor, and the guidance of this robot. For the guidance of the robot, a softwarehardware integrated control system is also implemented using cromemco single care computer.
More specifically, triangular shape body is builded, and three DC-motor driven wheels are attached under the lower triangle, one steers the direction of the robot, the other control the speed. As a hardware, power supply, speed control circuit, direction control circuit, direction detection circuit, ultrasonic detection circuit are made. As a software speed control program, direction control program, ultrasonic detection program are programmed as a Z-80 assembly language.
In guiding the robot, direction control part is the most important, so direction control system is analyzed as an on-off relay control system.
