【摘要】 为实现机器人在复杂环境中快速灵活的运动要求,该文设计了一种轮履复合式快速移动机器人,并针对其3种不同运动模式进行分析。利用智能辅助控制策略,机器人运行中可根据地形不同而采取不同的运动模式,简化了操作难度。机器人采用基于ADXRS610的角度测量单元,STM32F103单片机实时处理角度变化情况来不断监测机器人姿态,在复杂地形中通过调整机器人结构使机器人保持最佳驱动状态。通过不断地调试,最终实现机器人地形自适应的要求,具有运动灵活、操作简单、越障能力强、功耗低的特点。更多还原

【Abstract】 This paper designs a fast fulfillment of wheel type mobile robot,whitch can move quickly and flexibly in a complex environment,and analyzes three different movement patterns. Using intelligent auxiliary control strategy,in the operation of the robot can differ according to the terrain and take different movement patterns,simplifies the operation difficulty. Robot based on ADXRS610 Angle measurement unit,and use STM32F103 microcontroller to constantly monitor the changes of the robot posture real-time processing Angle,by adjusting the robot structure in complex terrain to keep robot best driver state. Through continuous debugging,finally realizes the robot adaptive terrain,with flexible movement,simple operation,obstacle capability,the characteristics of low power consumption.更多还原