基于ATMEGA2560的自平衡移动机器人系统设计

Design of Control System for Mobile Robot

该文设计了一款可以自主运行且保持平衡的移动机器人控制系统,使用LD3320识别简单的语音启动停止信号实现移动机器人启停控制,使用六轴传感器MPU6050实现未知环境下移动机器人的角度信息,通过MPU6050以及电机速度编码器实现保持小车的平衡。移动机器人最后能够实现自主运行以及语音识别的功能。通过实际移动机器人的运行结果说明控制系统的正确性。

This thesis designs an control system of mobile robot which can accomplish the automatic and balance maintenance.The start-stop control of mobile robot is designed based on LD3320,which can recognize start-stop with simple speech signal.The system can realize the angle information of mobile robot in an unknown environment by adopting six-axis sensor MPU6050. Through the MPU6050 and the a motor speed encoder, it can keep the car balanced. In the last, mobile robot can achieve a series of functions of autonomous operation and speech recognization. The correctness of control system can be demonstrated by the actual operation results of mobile robot.