基于移动机器人技术的自主跟随与避障系统设计

The Control System Design of Autonomous Following and Obstacle Avoidance Based on Mobile Robot Technology

为了实现轮椅的智能化控制功能,设计了基于移动机器人技术的自主跟随与避障控制系统。该控制系统主要包括硬件设计和软件设计,以STC89C52RC单片机作为中央控制器,采用多个红外传感器检测轮椅周围障碍物和使用人员数据,并通过HCSR04超声波模块检测计算出障碍物距离,经由中央控制器采用PWM驱动执行电机调整轮椅运动方式,同时根据运动现状控制蜂鸣器报警模块实现报警并实时调整运动姿态,利用Proteus仿真环境对智能轮椅的自主避障与跟随功能进行了仿真模拟,进一步完成了实物设计制作与测试,从而实现了轮椅的智能控制。仿真与测试结果表明:各功能模块组装联调测试后,较好地实现了轮椅的自主跟随与避障功能,满足了智能轮椅使用的基本需求,提高了智能轮椅运动的安全性能,有效解决了老人及行动不便人士的出行问题。

In order to realize the intelligent control function of wheelchair, an autonomous following and obstacle avoidance control system based on mobile robot technology was designed. The control system mainly included hardware design and software design. The STC89C52RCMCU was used as the central controller, multiple infrared sensors were used to detect the obstacles around the wheelchair and the user data, the obstacle distance was detected and calculated through the HC-SR04 ultrasonic module, and the PWM driven executive motor was used to adjust the movement mode of the wheelchair through the central controller. At the same time, according to the motion status, the buzzer alarm module was controlled to alarm and adjust the motion attitude in real time. The autonomous obstacle avoidance and following function of the intelligent wheelchair was simulated by using Proteus simulation environment, and the physical design, manufacture and test were further completed, so as to realize the intelligent control of the wheel chair. The simulation and test results show that after the assembly,joint commissioning and test of each functional module, the autonomous following and obstacle avoidance functions of the wheelchair are better realized, the basic needs of the use of the intelligent wheelchair are met, the safety performance of the intelligent wheelchair movement is improved, and the travel problems of the elderly and people without ability are effectively solved.