双核微微鼠迷宫探索的设计与实现

Design and Realization of Dual Core Pico-mouse Maze Searching

为提高微微鼠探索迷宫的稳定性,并减少微微鼠在复杂迷宫中的探索时间,论文提出了基于STM32F429和A3P250的双核控制器,智能S转法的探索法则通过六条不同轨迹来实现转入和转出,短距离调整实现微微鼠不同探索路径的衔接,陀螺仪的加入可以实现微微鼠直线位置和转弯的精确补偿,前墙传感器和陀螺仪组合保证了连续转弯姿态的准确性;微微鼠高速探索实验表明,S转法能显著提高微微鼠转法的稳定性和快速性,有利于缩短微微鼠在迷宫中的探索时间。

To improve the stability and reduce the searching time of pico-mouse in complex maze,a dual core controller based on stm32f429 and a3p250 is proposed in this paper.Intelligent s-turning rule is realized by turning in and out through six different tracks.The short adjustment distance of turning in of and out realizes the connection of different searching path.Gyroscope can real⁃ize the accurate position correction of pico-mouse in the straight and turning compensation of the micro mouse,and the combina⁃tion of front wall sensors and gyroscope ensures the accuracy of continuous turning posture;The high-speed searching experiment of the pico-mouse shows that the s-turning rule can significantly improve the stability and rapidity of the pico-mouse turning,which is conducive to shorten the searching time of the pico-mouse in the maze.