轮式智能车的设计  

The design of wheeled intelligent vehicle

作　　者：张刚[1] 薛文祺 王璐瑶 王旭 刘现鹏 董贺 华杰[1] ZHANG Gang;XUE Wen-qi;WANG Lu-yao;WANG Xu;LIU Xian-peng;DONG He;HUA Jie(College of Information Technology,Jilin Normal University,Siping 136000,China)

机构地区：[1]吉林师范大学信息技术学院,吉林四平136000

出　　处：《吉林师范大学学报（自然科学版）》2023年第4期90-97,共8页Journal of Jilin Normal University:Natural Science Edition

基　　金：吉林省科技发展计划项目(20220101125JC);吉林省高等教育教学改革研究课题(JLJY202233572749);吉林省职业教育与成人教育教学改革研究课题(2021ZCY281)。

摘　　要：智能小车的循迹避障功能是实现小车完成正常行驶的关键.本文设计了一款基于STM32的轮式智能循线避障小车,采用PID速度控制算法控制电机转速,利用红外传感器采集小车的运行轨迹和障碍物等信息,并将其传递给单片机.通过单片机控制,从而在规定的路线上实现循迹、上下窄桥、上下楼梯和避障及抓取障碍物的功能.该设计具有结构简单,运行稳定,精度高等特点.The key to achieving normal driving of the intelligent vehicles is the tracking and obstacle avoidance function.In this paper,an intelligent obstacle avoidance vehicle based on STM32 was designed,which used PID speed control algorithms to control the motor speed,and used infrared sensors to detect the trajectory of the vehicle's movement and obstacles.The information collected by the sensors was transmitted to the microcontroller.Through the control of a microcontroller,the functions of following the prescribed route,ascending and descending narrow bridges,ascending and descending stairs,avoiding obstacles,and grasping obstacles could be achieved.The design has the characteristics of simple structure,stable operation,and high accuracy.

关 键 词：STM32 智能小车 循迹 避障 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP212[自动化与计算机技术—控制科学与工程]