基于STM32的智能四轮全向移动可重构避障机器人  

Intelligent four-wheel omni-directional mobile reconfigurable obstacle avoidance robot based on STM32

作　　者：钟智杰 杨昊旋 崔鹏 向苹萍 ZHONG Zhijie;YANG Haoxuan;CUI Peng;XIANG Pingping(School of Information Engineering,Southwest University of Science and Technology,Mianyang 621000,China;School of Manufacturing Science and Engineering,Southwest University of Science and Technology,Mianyang 621000,China;Engineering Research Center,Southwest University of Science and Technology,Mianyang 621000,China)

机构地区：[1]西南科技大学信息工程学院,四川绵阳621000 [2]西南科技大学制造科学与工程学院,四川绵阳621000 [3]西南科技大学工程技术中心,四川绵阳621000

出　　处：《传感器与微系统》2020年第9期112-115,118,共5页Transducer and Microsystem Technologies

摘　　要：为了适应在狭窄空间环境中自动作业的需求,提出了一种可重构避障的全向移动机器人,分析了其结构与变形原理,并通过研究可变形四轮正交全向移动机构的运动学模型,结合霍尔编码器与陀螺仪传感器,提出了基于STM32为主控制器的速度转角闭环控制方案,还设计了基于该结构的超声波探头分布与检测策略。实验结果表明:所提出的控制方案能够满足该机器人的速度控制需求,机器人在变形后能稳定行走直线,并能够检测到狭道环境,通过变形穿过狭道。在实际应用中,具有较快响应速度,机构灵活,适用范围广泛。In order to adapt the requirements of automatic operation in narrow space environment,a reconfigurable obstacle avoidance omni-directional mobile robot is proposed,its structure and principle of steering gear deformation are analyzed,and through researching on kinematics model for deformable four-wheel orthogonal omnidirectional mobile mechanism,combined with the Hall encoder and gyroscope,mainly angle closed-loop speed control scheme,based on the STM32 as main controller is proposed,distribution of ultrasonic probe and testing strategy based on this structure are designed.Experimental results show that the proposed control scheme can meet the speed control requirements of the robot,and the robot can stably walk in a straight line after deformation,and can detect the narrow channel environment and pass through the narrow channel through deformation.In practical application,it has fast response speed,flexible mechanism and wide range of application.

关 键 词：全向移动 重构避障 超声波测距 速度转角闭环控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]