随着机器人技术的发展,小型地面移动机器人在许多领域的应用越来越广泛,高昂的成本限制了小型地面移动机器人的大范围的应用和发展,该文讨论了低成本的移动捡球机器人实现原地转弯、捡球、越障等功能的机构和控制方法,提出了易于实现功能和便于推广的方案,本课题的研究较好地满足了小型地面移动机器人对控制系统的要求,在原地转弯、捡球、越障等方面都达到了设计的指标要求.“,”With the fast development of robot,the application of small-scale mulit-functional ground moving robots in many fields is becoming more and more popular,higher cost restricts their large-scale development and application. This paper researches low-cost control system and the realizations of many machines. This paper meets the requirement of the control system of the small-scale multi-functional ground moving robot and makes it in swerve ,ball-picking and striding over obstacles.