摘要
设计了一种具有自动避障功能的轮式机器人,利用Inventor软件对轮式机器人的机械本体进行实体建模,并制作了实物样机。选用ArduinoUnoR3电路板作为控制系统开发平台,由超声波传感器实时采集周围环境信息,由直流电机对驱动轮转速进行控制。最后,进行了机器人自动避障功能实验,实验结果表明:当机器人距离前方障碍物小于安全距离400mm时,机器人能够自行后退一定距离,然后向左或向右转向,从而实现安全避障。
In this paper, a mobile wheel robot with automatic obstacle avoidance function is designed. Inventor software was used to model the mechanical body of wheeled robot and a prototype was made. Arduino Uno R3 circuit board is selected as the development platform of control system, the ultrasonic sensor can collect real-time environmental information and control the speed of driving wheel by DC motor. Finally , the experiment of the automatic obstacle avoidance function of the robot is carried out. The experimental results show that when the distance between the robot and the obstacle in front is less than 400 mm, the robot can retreat a certain distance by itself, and then turn left or right to realize the safe obstacle avoidance.
作者
蔡卫国
陈思远
刘志岩
王艺森
CAI Wei-guo;CHEN Si-yuan;LIU Zhi-yan;WANG Yi-sen(School of Mechanical and Power Engineering,Dalian Ocean University,Dalian 116023,China)
出处
《机械工程与自动化》
2019年第4期15-16,19,共3页
Mechanical Engineering & Automation
基金
辽宁省教育厅科学研究项目(L2014275)
关键词
轮式机器人
自动避障
超声波传感器
wheeled robot
automatic obstacle avoidance
ultrasonic sensor
