移动机器人循迹控制系统的设计与实现精品毕业设计.docVIP

移动机器人的循迹控制系统设计与实现 学 院 自动化 专 业 班 级 学 号 姓 名 指导教师 负责教师 沈阳航空2014年6月摘 要L298N驱动电路完成。本文移动机器人控制系统可以分为方向控制系统和速度控制系统。方向控制系统通过红外传感器检测赛道黑线，在运行过程中能够识别赛道的不同情况，并能够根据信息反馈及时控制移动机器人的方向。速度控制系统通过对PWM波占空比调节的方法对直流电机进行控制，使移动机器人的速度随赛道的变化而变化。通过对移动机器人运动的分析，结合方向控制系统与速度控制系统等重要控制系统的实现方法，使移动机器人能够完整通过直道、弯道和换道的过程，快速稳定的寻黑线行驶。 关键词：单片机；自循迹；控制算法；传感器 Mobile robot tracking control system design and implementation Abstract Intelligent tracking mobile robot is a kind of system which can be controlled to move along an accurate route automatically. In this paper, the main controlling chip---STC12C5A60S2 single-chip microcomputer,?the DC generator, sensor, power supply, circuit and other peripheral circuits are integrately used to make the intelligent tracking mobile robot, walk along a black line. In this system, IR-photoelectric sensors are used to track the robot, and L298N driving circuit can drive the mobile robot. In this paper, the control system of the mobile robot can be divided into direction control system and speed control system. Direction control system detects the black line through the infrared sensor, and can identify the track in different situations in the process of operation, and can control the direction of the mobile robot according to the feedback information in time. Speed control system controls dc generator by modulating the width of PWM pulse, in order to make the speed of the mobile robot changes along with the track. Based on the establishment and the analysis of the motion model of mobile robot, and the operation methods of the direction control system, speed control system and other important control systems, the mobile robot can finish the process in straight routes , bend routes and changing routes completely, and can walk tracking the black track fast and steadily. Keywords: Single chip microcomputer; Autonomous tracking; Control algorithm; Sensor 目 录 1 绪论 1 1.1移动机器人的发展历史和现状 1 1.2移动机器人循迹方法介绍 2 1.2.1循迹方法介绍 2 1.2. 2移动机器人循迹的关键技术 3 1. 3本文内容与章节安排 4 2移动机器