The design of a mobile robot is a multidisciplinary task integrating software, hardware, and mechanical knowledge. Therefore, a complete solution must demonstrate its key technologies in mechanical structure, hardware architecture, and software layers.

2.1 Application Scenario Description and Requirements Analysis This section first describes the application scenario for the mobile robot controller solution proposed in this paper. Then, starting from this application scenario, it deduces and summarizes the functional and performance requirements for mobile robots in this context.

2.1.1. Application Scenario Description As mentioned earlier, current mobile robot solutions are typically developed for specific problems, with complex structures and lengthy, slow development processes. They often fail to meet the demands of agile development, making it difficult to quickly deliver products with general-purpose functionalities. Cost control is also challenging. Furthermore, the reusability of software and hardware, especially hardware IP, is very low, making it difficult for others to perform secondary development.

The mobile robot solution proposed in this paper aims to contribute to solving these issues. This solution is applicable to the following application scenario: The robot relies on a simple, robust mechanical structure with sufficient strength to protect the control board and associated circuits, serving as a carrying platform. It achieves movement by motor-driven wheels, operating in indoor and outdoor environments with non-severe ground conditions, at medium to low speeds. The robot carries common sensors such as ultrasonic, infrared, laser, gyroscope, encoder, and camera, for environmental perception and self-pose estimation. These sensors