Design Of STM32-Based Omnidirectional Mobile Robot

With the development of the information industry in recent years,the robots that have achieved great success in industrial manufacturing are developing in the direction of intelligence,miniaturization,and mobility.Robots gradually enter various fields such as education,family,service,and medical care.Mobile robots are an important branch of robotics.Traditional mobile robots are limited by structure,thus their motion is not flexible enough,and have low level intelligence.It is more and more difficult to meet people's requirements for mobile robots.Aiming at the shortcomings of traditional mobile robots with poor motion control and weak human-computer interaction,an STM32-based omnidirectional mobile robot is designed.The specific works are summarized as follows.Firstly,we analyzed the kinematics of the Mecanum wheel.The structure of the Mecanum is modeled to obtain the kinematic equation.According to the kinematics equation,an omnidirectional mobile robot structure capable of three-degree-of-freedom motion in a two-dimensional plane is designed.Secondly,the function realization scheme of the omnidirectional mobile robot is studied to achieve accurate motion control and human-computer interaction.The hardware of omnidirectional mobile robot is designed by modular design method,and the printed circuit board of the omnidirectional mobile robot's main controller is designed by Cadence Allegro SPB.The hardware of the omnidirectional mobile robot is based on the main controller using STM32 embedded microprocessor,and is composed of peripheral circuits such as a WiFi communication module and an ultrasonic obstacle avoidance module.Thirdly,we designed the software of the omnidirectional mobile robot.The software flow and control algorithm of the main controller are mainly studied.The embedded control software of the main controller based on RealView MDK is designed,and the Android APP and the firmware of the WiFi communication module are designed.Finally,the mobile robot designed in this thesis is tested as a whole and module respectively.The hardware circuit test and software test results show that the omnidirectional mobile robot designed in this thesis achieves good motion control and human-computer interaction functions,and has strong reliability.