一种避障两轮自平衡机器人

Q3 Engineering International Journal of Mechanical Engineering and Robotics Research Pub Date : 2022-01-01 DOI:10.18178/ijmerr.11.1.1-7

Ryuichi Tsutada, Trong-Thuc Hoang, C. Pham

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引用次数: 5

摘要

倒立摆本身就是一个不稳定的系统，如果不加以控制，倒立摆就不能保持在平衡状态。倒立摆有几种类型，如卡车式倒立摆、轮式倒立摆和旋转式倒立摆。本文研究了一种基于轮式倒立摆的两轮自平衡机器人。TWSBR可以通过许多不同的方法来控制。控制TWSBR最常用的方法是使用PID控制器[1]。在[2]中，提出了线性二次调节器(LQR)的状态反馈控制。常见的微处理器如ARM Cortex-M4 [3]， STM32[4]和AVR[5]，[6]已被用于控制TWSBR。此外，机器人避障问题的研究已经进行了多年，许多方法都采用了模糊推理。在[7]中，提出了采用多超声波传感器对TWSBR进行避障。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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An Obstacle Avoidance Two-Wheeled Self-Balancing Robot

An inverted pendulum is an inherently unstable system and cannot be maintained in a balancing state without control. There are several types of inverted pendulums, such as truck-type inverted pendulums, wheel-type inverted pendulums and rotary-type inverted pendulums. In this paper, we focus on a two-wheeled self-balancing robot (TWSBR) based on the wheel-type inverted pendulum. TWSBR can be controlled by many different methods. The most common method to control TWSBR is to use PID controller [1]. In [2], state feedback control by Linear Quadratic Regulator (LQR) is proposed. It is common that microprocessors such as ARM Cortex-M4 [3], STM32 [4] and AVR [5], [6] have been used to control TWSBR. Also, obstacle avoidance of robots has been researched for many years and many methods are adopted fuzzy inference. In [7], obstacle avoidance by multiple ultrasonic sensors for TWSBR is proposed.

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来源期刊

International Journal of Mechanical Engineering and Robotics Research Engineering-Mechanical Engineering

CiteScore

2.80

自引率

0.00%

发文量

期刊介绍： International Journal of Mechanical Engineering and Robotics Research. IJMERR is a scholarly peer-reviewed international scientific journal published bimonthly, focusing on theories, systems, methods, algorithms and applications in mechanical engineering and robotics. It provides a high profile, leading edge forum for academic researchers, industrial professionals, engineers, consultants, managers, educators and policy makers working in the field to contribute and disseminate innovative new work on Mechanical Engineering and Robotics Research.