摘要
设计一款轮式智能移动机器人——电脑鼠,可自动搜寻路径并穿越一个16×16的迷宫.电脑鼠硬件主要由AVR单片机、微型直流电机和红外传感器构成.文中介绍直流电机驱动电路、编码器二倍频电路和辩向电路;建立直流电机PID控制仿真模型,采用临界比例度法整定PID参数,实现直流电机的快速调整和精确控制;采用对数坐标拟合红外传感器采样值与挡板距离的曲线,采用线性内插法得到采样值对应的距离数据,提高了微处理器的运算效率并减小误差.所设计的电脑鼠可实现迷宫搜索.
Micromouse is an intelligent autonomous mobile wheeled robot. It can search its way through an 16 × 16 maze. This Micromouse hardware is composed of AVR microcontroller, micro DC motor and infrared sensor. This paper expounds DC motor drive circuit, the encoder＇ s double frequency circuit and identify direction circuit. It introduces how to build the PID control simulation model of DC motor base on Matlab and the process of PID parameter tuning. Using this way, it can adjust the rotate speed of DC motor rapidly and control it accurately. This paper introduces how to fit the curve of IR receiver＇ s AD sampling value and maze barrier＇ s distance in logarithmic coordinates. It gets the distance＇ s data by using Linear Interpolation Table. This way increases the efficiency of AVR microcontroller and decreases error. Micromouse can search maze by using this hardware.
出处
《福州大学学报（自然科学版）》
CAS
CSCD
北大核心
2014年第6期876-882,共7页
Journal of Fuzhou University(Natural Science Edition)
基金
福建省青年科技人才创新项目(2011J05150)
福州大学科技发展基金资助项目(2011-XY17
2012-XY-4)
