基于模糊避障算法的履带式搬运机器人的设计

Design of a Tracked Handling Robot Based on Fuzzy Obstacle Avoidance Algorithm

摘要:

以HC-SR04超声波传感器模块获取机器人周围环境信息，以链式叉车作为搬运货物的执行机构，以STM32F103单片机作为机器人控制器，设计了一种自动搬运并且避障的小型履带式搬运机器人。针对局部静态环境下多障碍物对系统避障的复杂性，引入了模糊控制算法，通过对机器人与障碍物之间的距离进行模糊化，建立模糊规则，实现搬运机器人的避障控制。为了提高机器人的稳定性及避障的可靠性，对直流电机建立了数学模型，并利用积分分离PID算法进行仿真，最后实验结果表明该算法提高了直流电机的控制性能。

Abstract:

The HC-SR04 ultrasonic module is used as the sensor to obtain the information of the surrounding environment of the robot. The chain forklift is taken as the actuator for the handling of the goods. The STM32F103 single-chip microcomputer is used as the robot controller. A small crawler handling robot is designed for automatic handling and automatic obstacle avoidance. Aiming at the complexity of the system obstacle avoidance in the local static environment, a fuzzy control algorithm is presented. The control algorithm of the obstacle avoidance is also implemented after establishing the fuzzy rules of the distance between the robot and the obstacles. In order to improve the stability of the robot and the reliability of the obstacle avoidance, a mathematical model of the DC motor is established, and the integral PID algorithm is used for simulating. Finally, the experiments show that the algorithm can improve the control performance of the motor.