超声波零转弯半径自主跟随机器人定位控制

Control of Zero Turning Radius Independent Following Robot Based on Ultrasonic Positioning

零转弯半径的自主跟随机器人具有无正方向、自主跟随、运动灵活等特点。利用无线通信和超声波模块对机器人平台进行定位,通过PID控制确定机器人移动的距离、速度以及机器人转向。为了能达到自主跟随定位的目的,设计了一款手持设备。机器人在接收到手持设备的超声波信号后,通过数据的协同处理,可得到手持设备相对于机器人的位置信息。机器人检测到本体相对手持设备的位置信息后,通过控制算法使机器人向手持设备靠近,从而达到机器人跟随手持设备运行的目的。

The zero turning radius independent following robot is a new type of service robot, w h i c h h a s t h echaracteristics of no positive direction,independent f o l l o w,f l e x i b l e movement ,$（ T h e p o s i t i o n i n g robot platform and the control of robot was studied. The techniques of wireless communicatused to determine the location of tlie robot. By the PID closed-loop control,t h e r o b o t s m o v i n g d i s t a n c e,s p e e d a n dsteering motor rotation angle and so on were can be determined. In order to achieve the purpose of followingpositioning, the corresponding handheld device was designed. After receive the signals of handheld device’ultrasonic,the robot deals with the signals and gets the information of the relative to theThen ,the robot is controlled by controlling algorithm,s o a s to a c h i e v e t h e g o a l o f r o b o t r u n n i n g w i t h a h a n d h e l ddevice.