摘要
针对移动机器人在自适应跟踪方面存在跟踪避障精度不足的问题,设计了基于STM32F407ZGT6芯片的移动机器人自适应跟踪系统。该系统采用了基于IMM和VFH的新型避障方法实现移动机器人的自适应跟踪和避障功能,融合两者优势,有效适应目标的运动变化,解决了在趋势目标点附近存在的机关干扰和转向震颤的问题。通过MatLab对有、无障碍物2种方式进行仿真。结果证明,在无障碍物下具有较高的跟踪精度,在存在障碍物的情况下可实现有效避障且不存在抖动现象。
Aiming at the problem of insufficient tracking and obstacle avoidance accuracy in mobile robot adaptive tracking,an adaptive tracking system for mobile robot based on chip STM32F407ZGT6 is designed.The system adopts a novel obstacle avoidance method based on IMM and VFH to realize the adaptive tracking and obstacle avoidance functions of the mobile robot.The advantages of the two methods are integrated to effectively adapt to the movement changes of the target,and the problems of mechanism interference and steering tremor near the trend target point are solved.MatLab is used to simulate the presence and absence of obstacles.The results show that it has high tracking accuracy in the absence of obstacles,and can effectively avoid obstacles in the presence of obstacles,and there is no jitter phenomenon.
作者
杜涓
陈家林
DU Juan;CHEN Jia-lin(School of Electrical Information,Wuhan University of Engineering,Wuhan 430205,China)
出处
《自动化与仪表》
2020年第11期44-48,共5页
Automation & Instrumentation
