Design of Embedded Control System for Window-Cleaning Robot

Considering increasing importance of home service robot, the embedded control system based on TI msp430 and μC/OS-II is designed for window-cleaning robot. This paper includes three aspects, i.e., functions, hardware and software design. In the development of the system, the robot can be controlled by smart home system. PID controller is used to control DC motor stably. Meanwhile, a complete coverage path planning is proposed for efficiency.