摘要随着工业技术的日益发展，传统的移动机器人已经不能满足工业生产的要求，迫于这种情况，待研究出一种更加灵活、更加容易操控和适应性更强的移动平台。然而，为了更加灵活地完成既定安排的任务，需要使移动平台在运动过程中能够顺利避开障碍物。本文着重介绍全向移动平台的避障模块，也是本次设计的重点，避障模块相当于全向移动机器人的 “眼睛”，在本次设计中设定障碍物是静止的，移动平面光滑，本文研究工作主要包括以下几个方面：82348

    首先，研究了全向移动平台机械结构和运动原理，在选择出微控制器芯片的型号后设计出微控制器系统电路；研究了全向移动平台超声波传感器系统、超声波加舵机自主避障模块组成及其测距原理。

其次，结合传感器信息融合技术和模糊控制理论，对全向移动平台的避障原理进行研究，给出不同障碍物条件下全向移动平台的避障方式。简单地说就是当传感器检测到左边障碍物往右转，检测到右边障碍物往左转，未检测到障碍物时保持原来的移动方式。

最后，介绍了基于ARM的Keilμvision4软件开发平台，然后对系统程序进行设计，绘出系统总框图并编写出避障程序，然后对程序下载调试，通过软硬件联调，从而实现避障功能。     

毕业论文关键词:全向移动机器人； STM32； 超声波测距；避障；

Abstract     With the increasing development of industrial technology, the traditional mobile robots has been unable to meet the requirements of industrial production, under this kind of situation, urgent need of the a more flexible and easier to control and more adaptable mobile platform。However, in order to complete the task more flexible, it is needed to make the mobile platform to avoid obstacles in the process of motionThis paper focuses on the obstacle avoidance module of the omni-directional mobile platform, which is also the focus of this design, the obstacle avoidance module is equivalent to the "eyes" of the omni-directional mobile robot ",In this design, we set the obstacle is still, the moving plane is smooth, the research work of this paper mainly includes the following aspects:

   Firstly, the mechanical structure and movement principle of the omni-directional mobile platform are studied, and the micro controller system circuit is designed after selecting the model of the micro controller chip;The ultrasonic sensor system of the omni-directional mobile platform is studied, and the composition of the autonomous obstacle avoidance module and the ranging principle of the ultrasonic sensor and actuator are studied。

Secondly, based on the sensor information fusion technology and the fuzzy control theory, the obstacle avoidance principle of the omni-directional mobile platform is studied, and the obstacle avoidance mode of the omni-directional mobile platform is given。Say simply is when the sensors to detect obstacles on the left to the right, the detection to the right of the obstacle to the left was not detected obstacles keep original mobile way。

At last, the paper introduces the μvision4 keil software development platform based on ARM,Then the system program design, draw the total block diagram of the system and write a program to avoid obstacles, and then download the program debugging, through the software and hardware debugging, so as to achieve obstacle avoidance function。

Keywords:Omni-directional robot; STM32; Ultrasonic ranging; Obstacle avoidance;

目  录

第一章 绪论 1

1。1选题的目的和意义 1

1。2国内外研究现状及存在的问题