双超声波数据融合的两轮机器人平衡行进策略研究

摘要

Aiming at the problems in production and application of the mobile self-balanced robot,its structural features and control strategy of posture balancing are researched. In order to ensure balanced and coordinated movement of the robot, the balanced traveling strategy based on dual ultrasonic distance measurement of data fusion is proposed. By utilizing the dual ultrasonic data fusion balancing algorithm,the control of self-balanced pose can be achieved in Arduino-controlled robots. In order to ensure the self-balanced motion of the robot,the dual ultrasonic sensor data information is processed;at the same time, the PID control algorithm is added in robot motion process,to adjust the motion status of robot and the speed of error processing is greatly improved. The results of experiment and simulation show that the proposed method is effective and feasible. The dual ultrasonic self balancing robot can maintain a good posture balance, and the moving control and basic direction control are effective and reliable,which reflects the better balance stability and coordination. Under control of balancing algorithm,the dual ultrasonic robot is not only balanced traveling, but also implementing balanced retreat, and balanced turning around under marching strategy,this possesses wide application prospects.%针对移动轮式自平衡机器人在生产应用中存在的问题,对其结构特点与姿态平衡的控制策略进行了研究.为了保障机器人的平衡与协调运动,提出了基于双超声波测距数据融合的平衡和行进策略.采用双超声波数据融合平衡算法,在Arduino主控的机器人上实现了自平衡姿态的控制,对双超声波传感器数据信息进行处理,从而保证了机器人的自平衡运动;同时,在机器人的运动过程中加入了PID控制算法,以调整机器人的运动状态及加快机器人对信号误差处理的速度.试验与仿真结果表明,该策略设计有效可行,双超声波自平衡机器人可以保持较好的平衡姿态,行进控制与基本方向控制也有效可靠,体现了较好的平衡稳定性和平衡协调性.在平衡算法控制下,双超声波机器人不仅实现了平衡行进,还实现了行进策略下的平衡后退以及方向控制下的平衡转弯,具有广阔的应用前景.