CAJ | 학술논문

设计了基于STM32F103VET6的自主定位小车，给出了具体的软硬件设计方法。安装有超声波测距模块的四轮驱动小车能自动避障。利用九轴运动感测追踪组件M PU 9150的测量输出，完成载体姿态的计算，光电码盘的输出完成速度和距离的计算，然后采用航位推算的方法完成小车在二维平面内的自主定位。小车采用速度反馈实现了按给定的速度平稳启动。整个系统具有功耗低、体积小、成本低等优点。
설계료기우STM32F103VET6적자주정위소차，급출료구체적연경건설계방법。안장유초성파측거모괴적사륜구동소차능자동피장。이용구축운동감측추종조건M PU 9150적측량수출，완성재체자태적계산，광전마반적수출완성속도화거리적계산，연후채용항위추산적방법완성소차재이유평면내적자주정위。소차채용속도반궤실현료안급정적속도평은계동。정개계통구유공모저、체적소、성본저등우점。
The paper designes self-localization vehicle based on STM 32F103VET6 ,and it also gives hardware and software design meth-ods .Four-wheel-drive vehicle equipped with the ultrasonic ranging modules can avoid obstacle automatically .It uses outputs of 9-axis motion sensing tracking device M PU-9150 to achieve carrier attitude calculating ,the outputs of photoelectric encoders are used to calcu-late speed and displacement ,and then it uses dead reckoning method to complete the vehicle autonomous positioning in two-dimensional plane .The vehicle uses speed feedback to achieve smooth start for a given speed .The whole system has the advantages of low power consumption ,small size and low cost .