Two-Tier Mobile Robot Control System based on Arduino and Raspberry Pi

We have developed the Mobile Robot with the Two-Tier Control System to cover three topics:

  1. Мodel HighLevel_RaspberryPi simulate the vision system that allows a mobile robot to travel along straight road sections and corridors on the basis of linear perspective point detect. Camera Board or web camera must have connected to Raspberry Pi.

  2. Model LowLevel_Arduino simulate a simple closed-loop control algorithm which use the difference between two encoder outputs to calculate the power that should be applied to each wheel individually.

  3. In this project Raspberry Pi and Arduino Mega communicate with each other through the serial interface. However, despite the fact that the Raspberry Pi has the hardware parallel interface (UART), but it is not among the Simulink’s blocks as that of Arduino. To solve this problem for Raspberry Pi was developed the block of software parallel interface. But there is still a problem: UART port Arduino powered by 5 V, and Raspberry - from 3.3 V. For this Raspberry Rx pin was connected to the Arduino Tx pin through two resistors as shown in the pict.