Research On Obstacle Avoidance System Of Ocean Surface Detection Robot Based On STM32

In the marine detection robot technology,the obstacle avoidance control system is one of the most critical parts.How to effectively save R&D and design costs and meet the needs of universality and expansibility of marine observing systems,designing a set of marine water surface detection robot obstacle avoidance control system suitable for civilian use is the focus of this study.Based on the existing technology theory,after analyzing and summarizing,an obstacle detection system for marine detection robots based on STM32 single-chip microcomputer was designed.In combination with the current technical characteristics of marine exploration robots,STM32-f407 microcontroller is used as a control chip to study its system.The hardware design,module selection,path planning and software design of obstacle avoidance system for marine detection robots were finally completed,and the basic functions for obstacle avoidance control of ocean surface detection robots were realized.First of all,the development status of ocean exploration robots and robot control technologies at home and abroad is described in detail.Through analysis and research,it is concluded that the research on the obstacle avoidance system of the detection robot can not only make up for the deficiencies in our country,but also play a positive role in the development of marine exploration and marine industry and meet the needs of production and living.After that,the related theory of path planning for obstacle avoidance system is studied,which lays a theoretical foundation for the robot path planning.Then based on the basic functions of the ocean detection robot obstacle avoidance system,the system functional requirements were proposed.Integrating the technical status and functional requirements,the overall design of hardware and software systems for obstacle avoidance control of ocean surface detection robots was conducted,and an overall design proposal was proposed.Based on this determination,the STM32-f407 SCM is used as the core controller of the system,together with the GPS module,the GPRS module and the sensor integration module,etc.,and various component modules are selected to construct the hardware structure of the obstacle avoidance system.Then focus on the study of the obstacle avoidance method based on ultrasonic sensors,formulate the ultrasonic sensor layout scheme,explore the obstacle avoidance method based on the actual situation,and propose the relevant anti-jamming measures to formulate the corresponding strategy of the robot path planning.In the research process,we first built an environment model based on grid method,and then used DIJKSTRA algorithm to work out the global shortest path,then based on the above basis,the traditional ant colony algorithm is improved,and the algorithm is used to optimize the global shortest path obtained by the DIJKSTRA algorithm to complete the dynamic obstacle avoidance task.Then the final path was obtained through simulation and simulation to ensure the reliable operation of the marine detection robot system.Finally,the design of obstacle avoidance system for marine detection robot based on STM32 was realized,and the software implementation was described in detail.