Research And Implementation Of Multifunctional Self-stable Mobile Platform

In recent years,with the continuous development of artificial intelligence,intelligent robots began to get people more attention,which began to integrate into people's lives in life and entertainment.Now,since the self-stable system(unmanned aerial vehicles,balanced vehicle,etc.)by virtue of their easy use,small size,flexible operation,low power consumption began to get more and more use and concern.The multi-functional self-balanced mobile platform is designed and realized based on the inverted pendulum model and the inertial navigation theory.It has been improvement based on the traditional two-wheel balancing vehicle,that it can be modular to easily add or replace the load module,and increase the smoothness of its movement and improve its commercial value.At the same time,the platform is equipped with a ultrasonic sensors to detect the surrounding environment to achieve self-smooth to avoid obstacles and avoid the phenomenon of emergency stop.The operator can through the control panel or use of mobile phone Bluetooth to achieve remote control,it has intelligent automatic control.The topic includes hardware system and software system parts.The hardware system includes STM32 circuit board design,sensor module design,motor driving design and so on.Software algorithms include Kalman filter algorithm,quaternions angle updating algorithm and improvement fuzzy PID control algorithm.Through the establishment and analysis of its motion equation,the specific control scheme of the self-balancing of the mobile platform to control motor.The feedback circuit is used to control the platform's angle,speed and direction.Try to use the ultrasonic obstacle avoidance system to achieve autonomous obstacle avoidance function.And using the weighing module according to the operator's different quality to change the PID coefficient,to ensure the platform can be more stable movement.On the basis of theoretical research,this thesis has finished the hardware design and software realization of the whole system and carried out the actual test.People can through the change of posture and control panel to complete the outdoor walking obstacles to avoid obstacles.When using the mobile phone Bluetooth platform for remote control,it also can run smoothly.Above all,this mobile platform can complete the flexible installation and use of different modules,with easy and flexible operation.It can be use of a wide range such as in the travel,cargo transportation,tracking camera and other fields has a strong commercialize promotion.