摘要
针对类车机器人自主移动的问题,首先在非完整约束系统下建立类车机器人低速移动过程的运动学模型和动力学模型,选用适合基础性类车移动机器人研究的自行车模型进行状态分析;在混合式体系结构下用STM32作为机器人自主移动控制系统的核心,给出控制系统框图,完成硬件设计;同时完成环境定位与建图,构建动态贝叶斯网络,最终综合实现类车机器人自主移动的功能。
Aiming at the problem of autonomous mobile robot,first of all in nonholonomic system it establishes the robot low-speed mobile's kinematics model and dynamics model,and chooses the bicycle model as the mobile robot's suitable basic model to analysis. In mixed architecture,STM32 is used as autonomous mobile robot control system core and the block diagram of a control system is given,the hardware is designed. The environment localization,map building and construction of dynamic Bayesian network are completed. Finally,it synthetically achieves the functions of autonomous mobile robot.
出处
《微型机与应用》
2016年第18期58-61,共4页
Microcomputer & Its Applications
关键词
自主移动
运动学模型
STM32控制系统
SLAM
autonomous mobile
kinematics model
STM32 control system
simultaneous localization and mapping
