Development of an Automatic Obstacle Avoidance Double-wheeled Balancing Vehicle
In order to further improve the accuracy,stability and operation safety of the balancing vehicle,this paper designs and develops an automatic obstacle avoidance double-wheeled balancing vehicle.Taking STM32F103C8T6 chip as the core processor,the MPU6050 sensor is used to collect the body attitude during the vehicle movement.The angle and acceleration of the vehicle are obtained through the encoder.Then the appropriate PWM value obtained by PID algorithm is acted on the motor drive chip.The balance and steering of the body during the vehicle movement can be realized by controlling the forward-reverse rotation and the rotation speed of the motor.In addition,ultrasonic and servo modules are used to realize the obstacle avoidance function of the vehicle,so that it can choose the direction independently when encountering obstacles,and then the steering is achieved.Finally,through debugging and analysis,the results show that the balancing vehicle can accurately perceive and avoid obstacles while keeping balanced movement.The balancing vehicle designed and developed in this paper is more flexible in movement and lower in cost,and it is more suitable for working in dangerous and narrow space.It is of great significance to the development and application of intelligent robot.
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