Design And Implementation Of Maze Robot Based On STM32F407

With the development of science and artificial intelligence research,maze robot,as a hot research,has developed rapidly.Maze robot,a kind of micro-robot,which is composed of microprocessor,sensor and motor,and so on.It is an intelligent wheeled robot that can complete the search and sprint from the beginning to the end in the maze.By the studying the hardware constitution and the motion control law of maze robots,the research and design of maze robot have completed.Firstly,the hardware design of the maze robot was accomplished.In the aspect of microprocessor,the STM32F407 microprocessor was chosen as the main control chip of the maze robot.As for motor drive,this paper selected coreless DC motors with brushes as the control motors to complete the design of driver circuits.For sensors,infrared sensors were used for maze detection,and the layout of sensors designed.In addition,this paper completed the drawing of system schematic,and the production and testing of PCB.Secondly,the motion control design of the maze robot has achieved,including the straight travel mode and the turning mode and the motion compensation,and corresponding motion control flow charts have given.Since the static turning mode will greatly increase the maze search and sprint time,motion turning was adopted in the maze search and sprint stage.Unnecessary parking process and the time of search and sprint were reduced.Due to external or internal factors,the deviation of maze robot will produce distance or direction in the moving process,so the straight travel,turn and stop motion compensation have designed to reduce the probability of collision between the robot and the wall of the maze.Thirdly,the maze algorithm has designed.The processes of maze robot moving in the maze were divided into search stage and sprint stage.The simulation of the right hand rule center algorithm,center algorithm and flood algorithm combining algorithm have respectively completed in search and sprint stage.The simulation results showed that the running time of the maze robot could shorten by using the combination of the central algorithm and the flood algorithm.Finally,the design of the main program of the maze robot,the motion control program and the maze algorithm program have completed,then the algorithms have tested on the hardware platform.Therefor,the design and implementation of the whole maze robot have finished.