STM32的小车自主定位与控制系统设计

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MPU-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。

Car Self-localization and Control System Based on STM 32

The paper designes self-localization vehicle based on STM32F103VET6, 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 MPU-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.