基于增量式PID算法的移动机器人定位系统设计  

Design of mobile robot positioning system based on incremental PID algorithm

作　　者：宋安伟 王良[1] 刘艳梅 袁文波 邱添 肖萱 SONG Anwei;WANG Liang;LIU Yanmei;YUAN Wenbo;QIU Tian;XIAO Xuan(School of Mechanical Engineering,Hunan University of Arts and Science,Changde 415000,China)

机构地区：[1]湖南文理学院机械工程学院,湖南常德415000

出　　处：《湖南文理学院学报（自然科学版）》2024年第2期19-26,共8页Journal of Hunan University of Arts and Science(Science and Technology)

基　　金：国家级大学生创新创业训练计划项目(202210549013);湖南省大学生创新创业训练计划项目(湘教通2022[174])。

摘　　要：为了提高应用于智能制造领域的四轮全向移动机器人定位精度,本文基于增量式PID算法,采用STM32、激光测距模块和陀螺仪构建全向移动机器人定位系统,并搭建机器人移动定位测试实验环境。测试表明所设计的定位系统具有良好的定位精度和运行稳定性,能够满足智能制造领域移动机器人部分应用场合的定位要求。In order to improve the positioning accuracy of four-wheel omnidirectional mobile robots applied in the field of intelligent manufacturing,an omnidirectional mobile robot positioning system is constructed based on the incremental PID algorithm,using STM32,laser ranging module and gyroscope,and an experimental environment for robot movement positioning testing is set up.Tests have shown that the designed positioning system has good positioning accuracy and operational stability,and can meet the positioning requirements in some application scenarios of mobile robots in the field of intelligent manufacturing.

关 键 词：智能制造 移动机器人 增量式PID算法 定位精度 STM32 

分 类 号：TP302.1[自动化与计算机技术—计算机系统结构]