基于STM32的可遥控智能跟随小车设计.pdfVIP

基于 STM32的可遥控智能跟随小车设计 刘磊 孙晓菲 张煜 （西南交通大学电气工程学院 四川 成都 611756 ） 摘 要：针对物品搬运时人类双手仍无法完全解放的现状， 设计并实现了一种基于 STM32、超声波测距以及 比例控制算法的可遥控智能跟随小车。小车以 STM32为控制核心，有智能跟随和红外遥控两个模式可选。 跟随模式下用两个安装在前端的超声波模块分别实时测量小车与目标之间的距离，单片机采用比例控制算 法，根据实测距离控制左右电机转速；遥控模式下单片机根据接收到的红外遥控信号控制小车的运动方向。 试验结果表明： 小车在 2 米以内准确跟随几率大于 95%、响应时间小于 250 毫秒。 该设计实现了小车对目标 的 360 度智能跟随以及在必要情况下对小车的遥控操作，系统可靠，较人性化。 关键词： 机器人控制；智能跟随小车； STM32；超声波测距 中图分类号： TP242.6 文献标识码： A 国家标准学科分类代码： 510.8050 Remote controlling and intelligent following car design based on STM32 Liu Lei Sun Xiaofei Zhang Yu (Schoolof ElectricalEngineering ,Southwest Jiaotong University,Chengdu 611756, China) Abstract: Currently human hands are still not liberated when men carry things. This paper designs and implements an remote control and intelligent following car based onSTM32, ultrasonic ranging and proportional control algorithm.The car uses STM32 as its control center, and the intelligent follower mode and the infrared remote controlling mode are both available for the car. There are two ultrasonicmodulesinstalledon the front to watch thedistance between the car and the targetat each time under the following mode.SCMadopts proportional control algorithm and controls the motor speed on the left and right side according to the watcheddistance.Itcontrols the moving direction of the car according to the received infrared signal under remote controlling mode. Experimental results show the car accurately follow probability greater than 95% and response time less than 250 ms within two meters. This design accomplishes the goal that a intelligent car can