基于STM32的陆空两栖机器人控制系统开发

Study of Control System for Air-ground Amphibious Robot

针对应急侦查对机器人长航时和全方面现场侦查的要求,设计了一种基于旋翼和履带结构的陆空两栖机器人,它同时具有飞行和地面运动能力。机器人控制系统以STM32F407为核心,完成了飞行运动和地面运动控制系统的硬件设计。以嵌入式实时操作系统为平台,设计了基于四元数和PID控制器的机器人控制系统软件。最后,搭建了陆空两栖机器人平台。实验结果表明,所设计的控制系统可有效进行机器人的飞行和地面运动控制,可实现增加航时和全方面侦查的要求。

An air-ground amphibious robot based on rotor structure and crawler carrier is designed in this paper.It has both in-air flight and on-ground movement capability.Firstly,STM32F407 is chosen as the core of the robot control system and the hardware design of control system for flight movement and ground motion is completed.Secondly,based on the embedded real-time operating system,a software system based on quaternion and PID controller for the robot is designed.