基于STM32F407的新型迷宫机器人系统设计  

Design of a New Maze Robot System Based on STM32F407

作　　者：范县成 孙新柱[1] 房稳[1] 彭诚[1] 

机构地区：[1]安徽工程大学电气工程学院,安徽芜湖214000

出　　处：《四川理工学院学报（自然科学版）》2016年第1期48-53,共6页Journal of Sichuan University of Science & Engineering(Natural Science Edition)

基　　金：安徽省高校自然科学研究重大项目(KJ2014ZD04)

摘　　要：针对迷宫机器人走迷宫的要求,介绍了一种基于STM32F407和L6207双核四轮新型迷宫机器人系统的设计与实现。根据迷宫机器人在走迷宫过程中,单一微控制器无法满足迷宫机器人的频繁启动与制动,在此基础上引入L6207芯片,从而减轻了迷宫机器人在走迷宫时STM32F407的工作量。然后通过重新设置硬件,并对设计的主要模块做了详细介绍,主要包括微控制器、红外传感器、电源模块、电机控制等模块。软件模块采用中心算法结合洪水算法进行迷宫的搜索与冲刺。该算法简单,模块化容易移植,大大提高了迷宫机器人在时效性与稳定性方面的性能。According to the maze requirement for maze robot, a kind of system based on STM32F407 and /6207 dual four wheel maze robot is designed and implemented. In the process of solving mazes, frequent starting and breaking of the maze robot will increase burden on the single micro controller, and hence the introduction of chip/6207 will greatly reduce the load of STM32F407. The hardware was reset, and the design of the main module was detailed, which consisted of the micro controller, infrared sensor, power module, motor control module etc. A new algorithm for maze robots to solve mazes by combining center algorithm with the flood algorithm was used for software module. This algorithm is simple, modularized and easy to be transplanted, and greatly improves the performance of the maze robots in the timeliness and stability.

关 键 词：迷宫机器人 STM32F407 中心算法 洪水算法 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]