基于STM32的循迹避障机器人设计

Design of Obstacle Avoidance Robot Based on STM32

为设计一款能够在按照既定路线行进,且运行中遇到障碍物时及时自动绕行的循迹避障机器人。本篇文章根据拟达到的目标,对系统结构进行了布局,确定了以STM32F103ZET6为主控制器、超声波传感器模块、电机驱动模块等相融合的设计方案。并完成了系统的硬件设计、软件设计以及实物模型的制作。通过对该机器人进行了三次性能测试可知,从绕障时间、与障碍物的距离以及返回位置的偏离度三个指标显示,其运行时间稳定、避障精度也达到了预设目标,即实现了合理化的方案设计。该设计对于实现机器人的智能化、自动化的场景应用具有良好的工程价值。

In order to design a tracking and obstacle avoidance robot that can automatically navigate around obstacles in a timely manner while following a predetermined route.This article laid out the system structure based on the intended goals,determined a design scheme that integrates STM32F103ZET6 as the main controller,ultrasonic sensor module,motor drive module,etc.,and completed the hardware design,software design,and physical model production of the system.Through three performance tests on the robot,it was found that the running time was stable and the obstacle avoidance accuracy met the preset goals,as indicated by the three indicators of obstacle avoidance time,distance from obstacles,and deviation from the return position,achieving a rational design scheme.This design has good engineering value for the application of intelligent and automated robot scenarios.