摘要
基于STM32F103ZET6单片机设计了一款集陀螺仪、超声波、红外测距、防跌落等多传感器融合的扫地机器人,该设计采用增量式航迹推算算法和MPU6050陀螺仪相结合进行定位,采用前进转向式的迂回式扫描法实现遍历,同时采用离散增量式PID调速算法,精确控制机器人前进、转向、后退等运动。结果表明该设计清扫覆盖率高,耗时时间短。
Based on the STM32 F103 ZET6 single-chip microcomputer,a sweeping robot with multi-sensor fusion of gyro,ultrasonic,infrared ranging,and anti-drop is designed.The design uses an incremental track estimation algorithm combined with MPU6050 gyroscope for positioning,and uses forward steering.The circuitous scanning method is used to traverse,and the discrete incremental PID speed adjustment algorithm is used to accurately control the robot’s forward,steering,and backward motion.The results show that the design has high cleaning coverage and takes a short time.
作者
穆莉莉
祁娜娜
汪浅予
陈凯
姚潘涛
MU Lili;QI Nana;WANG Qianyu;CHEN Kai;YAO Pantao(College of Mechanical Engineering,Anhui University Of Science&Technology,Huainan 232001,China)
出处
《东莞理工学院学报》
2020年第5期117-121,共5页
Journal of Dongguan University of Technology
关键词
传感器融合
PID调速
航迹推算
迂回遍历
Sensor Fusion
PID speed regulation
track estimation
roundabout traversal
