Design of Control Algorithm of Wheeled Robot Based on Wi-Fi and Inertial navigation
Zhifeng Wang, Heng Xie, Zeqin Lin, Tao Wen, Zhiming Zhen, Haichu Chen · IECON 2020 The 46th Annual Conference of the IEEE Industrial Electronics Society · 2020
This paper design a path planning smart car system based on STM32. It can use MPU6050 module to adjust the direction of route and the angle of the turning. Moreover, We use infrared modules and obstacle avoidance algorithms to complete the obstacle avoidance function, and the robot can move along a U-shaped trajectory. While the Wi-Fi module is used as communication to transmit data to the App developed on the Android platform, so as to control the moving distance of the car. We build the software system and the hardware system to test the control algorithm and the ability of avoiding obstacle. The robot runs 20 meters at a speed of 0.3m/s, and it is obtained that its yaw offset is about 1.3 degrees, and its trajectory offset is about 5cm. The results show that the robot can avoid obstacles on the ground and has certain stability, which provides a reference for the further development of a more intelligent robot car.