基于Mindstorms的四轮智能机器人实时控制系统设计

传统机器人控制系统是以辅助控制机器人转向为基准进行设计的，存在转向控制效果差的问题，为实现四轮智能机器人控制系统研发，以Mindstorms平台为基础，搭建由主控模块、传感器模块、无线通信模块、运动模块以及电源模块组成的四轮智能机器人结构。在运动控制模块中选用TMC236芯片作为电机驱动芯片，通过电路为桥臂上开关管提供控制电压；在底层控制模块中，采用PID控制器控制电机期望转角与实际转角之间差值，实现机器人转向角度控制。对软件控制策略研发中，利用嵌入式操作软件系统实现车道保持控制和避障控制功能，实现机器人自主换道功能。保证机器人自主充电情况下，测试转向控制功能，由测试结果可知，基于Mindstorms系统控制效果始终维持在98%以上，实现机器人转向精准控制。

Design of Real-time Control System for Four-Wheeled Intelligent Robot Based on Mindstorms

The traditional robot control system is designed based on the auxiliary control of the robot steering, which has the problem of poor steering control effect. In order to realize the research and development of four-wheel intelligent robot control system, based on Mindstorms platform, the main control module, sensor module, wireless communication module, motion module and power module are built. A four-wheel intelligent robot structure composed of blocks. In the motion control module, TMC236 chip is selected as the motor driver chip, which provides the control voltage for the switch tube on the bridge arm through the circuit. In the bottom control module, PID controller is used to control the difference between the expected angle and the actual angle of the motor to realize the control of the turning angle of the robot. In the research and development of software control strategy, the embedded operation software system is used to realize lane maintenance control and obstacle avoidance control functions, and realize the function of autonomous lane change for robots. The results show that the control effect of Mindstorms-based system is always above 98%, and the precise control of robot steering is realized.