Design of control system for upright wheeled robot based on magnetic navigation
Wheeled mobile robots capable of autonomous trajectory have been widely used in inspection,handling,distribution and other fields,but it is difficult to steer flexibly in special scenarios in narrow spaces.To address this problem,the article designs an intelligent traveling upright wheeled robot based on magnetic navigation with S9KEAZ128AMLK microcontroller as the core controller.The microcontroller obtains attitude data through complementary fitting of tilt angle and angular velocity,and the LC parallel resonant circuit selects the frequency of the navigation magnetic field to obtain the path information,and three closed-loop control signals of upright,steering and rotational speed are applied to the left and right wheel motors,so that the wheeled robot maintains the upright posture while changing direction and rotational speed according to the road offset.
NETL
NSTL
万方数据
