摘要
设计一种避障移动机器人,该机器人以STC89C51单片机作为控制核心,通过两个四相六线步进电机控制转动,并由L293D专用电机驱动芯片驱动.避障模块采用四对反射式红外传感器检测障碍物位置,单片机控制系统通过PID控制算法对采集的信号进行处理,语音模块选用ISD1420语音芯片进行报警.实验结果表明,该系统性能稳定,机器人能智能避障和自动语音报警.
In this paper,a kind of obstacle avoidance mobile robot was designed.It adopted the STC89C51 MCU as the control core,the rotation of the robot was controlled by two four-phase six-line stepping mo-tors,which were driven by the special driving chip L293D.Four pairs of reflective infrared sensor were used in the obstacle avoidance module to detect obstacle position.The collected signals were processed by PID control algorithm,and the robot alarmed by the voice chip ISD1420.The experimental results show that the system is stable,the robot is able to avoid obstacles intelligently and give voice alarm automatically.
出处
《湖北民族学院学报（自然科学版）》
CAS
2016年第1期60-63,共4页
Journal of Hubei Minzu University(Natural Science Edition)
基金
国家自然科学基金项目(61463014/61263030)
