自动巡线机器人姿态调整方法研究

西南交通大学硕士研究生学位论文第Ⅱ页AbstractThe project takes the background of the robot used in the 2006 National RobotTelevision Competition.According to the competition ground and constraints,anautonomous line-tracking robot has been made.In this thesis,the overall design of autonomous line-tracking robot andprinciple of each essential element have been described.The robot system has beendivided into five parts as fellow.The autonomous line-tracking arithmetic is the key of this project research.Therelative position relationship between the robot and the leading line is divided intoseven typical states;the adjustment strategy has been described respectively.Animplementation principle to enable centerline approaching the leading-line graduallyhas been described by adjusting continuously chassis posture.In mechanical structure part,by analyzing the normal wheel driveconfigurations,it has been choiced that two universal wheels are installed in thefront and two independent driving wheels are installed in the rear,which takes fullyinto account the simplicity and stability of the line-tracking.To satify thecompetition requirements,the corresponding executive mechanisms have beendesigned,such as taking,pushing.In sensor interface and drive circuit part,a detail explanation of photoelectricsensor and interface circuit has been discussed carefully.To adapt the robotmechanical properties and speed requirement,two motor driving circuits based ondifferent principles have been designed and their advantages and feasibility analyied.In robot control system part,hardware and software have been discussed suchas CPU choosing,control circuit designing,and hardware interface assigning,etc.Based on the MSP430,the speed difference from left and right wheel created by thePulse-Width Modulation adjusts the position of the robot and leading line,whichcarries out the autonomous runs along with the leading line quickly,stably andaccuratelyIt has been verified by competition that the autonomous line-tracking robot can