基于ATMEGA2560的自平衡移动机器人系统设计
|
摘要
该文设计了一款可以自主运行且保持平衡的移动机器人控制系统,使用LD3320识别简单的语音启动停止信号实现移动机器人启停控制,使用六轴传感器MPU6050实现未知环境下移动机器人的角度信息,通过MPU6050以及电机速度编码器实现保持小车的平衡。移动机器人最后能够实现自主运行以及语音识别的功能。通过实际移动机器人的运行结果说明控制系统的正确性。
This thesis designs an control system of mobile robot which can accomplish the automatic and balance maintenance.The start-stop control of mobile robot is designed based on LD3320,which can recognize start-stop with simple speech signal.The system can realize the angle information of mobile robot in an unknown environment by adopting six-axis sensor MPU6050. Through the MPU6050 and the a motor speed encoder, it can keep the car balanced. In the last, mobile robot can achieve a series of functions of autonomous operation and speech recognization. The correctness of control system can be demonstrated by the actual operation results of mobile robot.
This thesis designs an control system of mobile robot which can accomplish the automatic and balance maintenance.The start-stop control of mobile robot is designed based on LD3320,which can recognize start-stop with simple speech signal.The system can realize the angle information of mobile robot in an unknown environment by adopting six-axis sensor MPU6050. Through the MPU6050 and the a motor speed encoder, it can keep the car balanced. In the last, mobile robot can achieve a series of functions of autonomous operation and speech recognization. The correctness of control system can be demonstrated by the actual operation results of mobile robot.
引文
[1]阮晓刚.两轮自平衡机器人的研究与设计[M].北京:科学出版社.2012,12(8).
[2]易克初,田斌,付强.语音信号处理[M].北京:国防工业出版社,2000,1(5).
[3]王海波,冯蓉珍,司俊,等.基于PWM调速的智能小车控制系统实现[J].江西:科技广场,2011,2(11).
[4]周烜达.二轮自走车之设计与实现[D].中国台湾:国立中央大学,2007.
[5]王凯.两轮机器人动力学建模与控制方法研究[D].北京:北京航空航天大学,2007.
[6]Thomas Braunl,Jie Pan.Balancing a Two-Wheeled Autono-mous Robot[D].The University of Western Australia School ofMechanical Engineering Final Year Thesis,2003.
[2]易克初,田斌,付强.语音信号处理[M].北京:国防工业出版社,2000,1(5).
[3]王海波,冯蓉珍,司俊,等.基于PWM调速的智能小车控制系统实现[J].江西:科技广场,2011,2(11).
[4]周烜达.二轮自走车之设计与实现[D].中国台湾:国立中央大学,2007.
[5]王凯.两轮机器人动力学建模与控制方法研究[D].北京:北京航空航天大学,2007.
[6]Thomas Braunl,Jie Pan.Balancing a Two-Wheeled Autono-mous Robot[D].The University of Western Australia School ofMechanical Engineering Final Year Thesis,2003.