履带式机器人避障自动控制系统设计  

Design of automatic control system for obstacle avoidance of crawler robot

作　　者：姚健康 熊根良[1] 张驰洲 YAO Jiankang;XIONG Genliang;ZHANG Chizhou(School of Mechatronics Engineering,Nanchang University,Nanchang 330031,China)

机构地区：[1]南昌大学机电工程学院,江西南昌330031

出　　处：《南昌大学学报（工科版）》2019年第4期385-390,共6页Journal of Nanchang University(Engineering & Technology)

基　　金：国家自然科学基金资助项目(51265034)。

摘　　要：针对履带式机器人的电机控制及避障等功能,设计了一种以STM32微控制器为内核的自主履带式机器人。搭建其硬件平台后以超声波传感器模块来获得障碍标志物与机器人的间隔信息;因传统PID控制下的电机转速响应慢、容易出现积分饱和现象,提出多级积分分离PID算法实现转速控制,同时引入模糊控制算法来实现行进中的避障控制。基于Matlab/Simulink平台对机器人控制器进行算法仿真,仿真结果表明机器人能可靠地躲避障碍物,并改善了电机的控制性能;在地面实验中,验证了履带式机器人的直行和避障功能良好。Aiming at the motor control and obstacle avoidance of crawler robots,a small crawler robot with STM32 microcontroller as the core controller was designed.Firstly,the hardware platform of the crawler robot was built,and the ultrasonic sensor module was used to obtain the distance information of the obstacle and the robot.Secondly,due to the slow response of the motor under the traditional PID control and the easy occurrence of integral saturation,a multi-stage integral separation PID algorithm was proposed to realize the speed control,and a fuzzy control algorithm was introduced to realize the obstacle avoidance control during travel.The robot controller was simulated based on Matlab/Simulink platform.The simulation results showed that the robot can reliably avoid obstacles and improve the control performance of the motor.In the ground experiment,it was verified that the crawler robot has good straight-through and obstacle avoidance functions.

关 键 词：STM32单片机 超声波传感器 模糊控制 多级积分分离PID 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]