基于超声波的自动避障双轮平衡车设计及原理样机开发

Design and Prototyping Development of Automatic Obstacle Avoidance Self-balancing Two-wheeled Vehicle Based on Ultrasound

利用超声波测距技术,设计并开发了一台自动避障双轮平衡车原理样机。采用STM32F103微处理器及MPU6050姿态传感器,利用数字PID控制算法实现小车的自动平衡和运动控制,在此基础上,通过超声波测距模块获取小车周围障碍物信息,据此控制小车自动停车及避让障碍物,实现双轮平衡车运行过程中的自动避障功能。实验测试结果表明,所开发的自动避障双轮平衡车能稳定运行和避让障碍物。

Using ultrasonic range technology,an automatic avoidance two-wheel self-balancing vehicle for experimental was designed and developed.Using the STM32F103 microprocessor and MPU6050 sensor,the automatic balance and motion control of the vehicle are realized by using digital PID control algotrhim;Based on it,the information of the surrounding obstacles of the vehicle was obtained through the ultrasonic distance measurement module,and the automatic stop and obstacle avoidance of the vehicle was controlled and the automatic obstacle avoidance function was realized in the operation of the self-balancing ot-w wheel vehicle.The experimental results show that the develope d automatic obstacle avoidance self-balancing vehicle can run and avoid obstacles.