基于STM32的全方位移动平台设计和控制  

Design and control of Omni-directional mobile platform based on STM32

作　　者：林智骅 平雪良[1,2] 金登峰[1] 易旭[1] 王忠诚[1] 王晨[1] 

机构地区：[1]江南大学君远学院,无锡214122 [2]江南大学机械工程学院,无锡214122

出　　处：《电子测量技术》2016年第1期19-21,39,共4页Electronic Measurement Technology

基　　金：国家大学生创新项目(201410295003)

摘　　要：为了实现移动平台的全方位移动和避障,设计了一种基于STM32开发板的移动平台控制系统。该系统利用红外传感器以及无刷电机的差速转动实现循迹,利用超声波传感器进行测距,并通过对收集到的数据信息进行处理与分析实现避障。另设有无线控制模式,当移动平台遇到障碍或处于非循迹轨道上时,操作者可通过摇杆实现对移动平台的方向控制。实验结果表明,移动平台可以自动检测方位并修正,实现无碰撞行驶。In order to achieve the Omni-directional mobile and obstacle avoidance of the platform,a mobile platform control system is designed.Using infrared sensor and the differential drive of brushless motor to achieve path-tracking,using ultrasonic sensor to achieve distance measure.According to the processing and analysis of the data which collected by the platform to achieve obstacle avoidance.The system also has a wireless control mode,which allowed operator to realize the direction control of the mobile platform by operate a joystick when the mobile platform meets the obstacle or driving in non-tracking orbit.Experimental results show that the mobile platform can detect and correct aspect automatically and achieve collision free trave.

关 键 词：STM32 循迹 避障 无线操作 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]