Software design of restaurant service mobile robot's control system

The modular design of restaurant service autonomous mobile robot control system has been done, and the system adopted distributed control, the control system of the host (such as computer module) through the unity of the bus and protocols for coordination of each module. The control system distributed in the three modules of the power and driver module (including power management unit, motion control unit, and drive unit), the sensor module (various sensors, etc.), and control computer modules. Then, using VC++ 6.0 developed the software of the control system, and the software is divided into user-level, decision making control layer, sensing/underlying decision making, and movement execution layer. Communication between layers and layers are standard physical layer and protocol layer, so each layer has a highly scalable, the user is free to increase the user's own equipment and control procedures just in accordance with the standard physical layer and protocol specification.