机器人避障系统设计 526.docx

机器人避障系统设计 PAGE \* ROMAN II 摘 要 信息技术和电子行业的技术革新，让生活变得多姿多彩。科技也让生活越来越丰富，尤其是机器人的出现，在很大程度上解放了人工劳动力。而机器人尤其是移动机器人目前存在的重要问题就是如何有效的对障碍物进行规避，这也是当前众多科研公司及本文所要解决的重要问题。 在此背景下，本文提出了一种基于Arduino的机器人避障系统的设计，为了解决机器人避障难的问题。此系统是以Arduino 单片机为主要控制单元，使用HC-SR04型号的超声波测距模块发射接收超声波信号，在遇到障碍物时通过舵机云台带动超声波传感器模块探测前方障碍物的位置，并且，由传感器测量出的小车周围的距离会通过Arduino 单片机经处理显示在车载的OLED显示屏上，同时蓝牙模块也会实时的将数据发送到手机终端进行显示，而后Arduino 通过对数据的比较选择最优路线给电机驱动模块发出指令，电机驱动模块接受到指令后运用麦克纳姆轮的算法对小车的四个车轮进行驱动，使小车能够避开前方障碍物，通过红外反射传感器检测目的地的黑色地块使小车停止运动，最终达到预期目的。本文所设计的基于Arduino的机器人避障系统符合设计要求，在满足设计的同时，还具有成本低廉、功能齐全、结构简单等优点，具有较好的社会实际使用价值。 关键字：Arduino；避障；机器人；设计； Abstract Technological innovations in the information technology and electronics industries have made life colorful. Technology has also made life more and more abundant, especially the emergence of robots, which has largely liberated the artificial labor force. The important problem that robots, especially mobile robots, currently exist is how to effectively avoid obstacles, which is also an important problem to be solved by many current scientific research companies and this paper. In this context, this paper proposes the design of a robot obstacle avoidance system based on Arduino, in order to solve the problem of robot obstacle avoidance. This system is based on the Arduino microcontroller as the main control unit, using the HC-SR04 model of ultrasonic ranging module to transmit and receive ultrasonic signals, when encountering obstacles through the servo gimbal to drive the ultrasonic sensor module to detect the position of the obstacle in front, and the distance around the car measured by the sensor will be displayed on the OLED display screen of the car through the Arduino microcontroller, and the Bluetooth module will also send the data to the mobile phone terminal in real time for display. Then Arduino selects the optimal route through the comparison of data, and then issues instructions to the motor drive module, the motor drive module receives the instruction and uses the al