基于MSP430的自动巡线机器人姿态调整方法研究

Posture Adjustment of an Autonomous Line-tracking Robot Based on MSP430

  • 摘要: 将机器人与引导线的相对位置关系分成典型的七种状态,控制系统分别就这七种状态做出相应的调整策略.论证了在这种机构设计下通过不断调整底盘姿态的方法可以让底盘中心线逐渐与引导线重合的实现原理.基于MSP430平台采用PWM来控制左右驱动轮的转速以产生转速差,来调整机器人与引导线的相对位置,实现了快速、稳定、准确的巡线.

     

    Abstract: The relative position relationship between the robot and the leading line is divided into seven typical states,according to which the control system adopts an adjustment strategy respectively.An implementation principle using this me-chanism design is demonstrated by which the chassis centerline can approach the leading line gradually through continuously adjusting the chassis posture.Based on MSP430,the speed difference between the left and right wheels is produced by the Pulse-Width Modulation to adjust the relative position of the robot and the leading line,and quick,stable and accurate line-tracking is realized.

     

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