摘要本课题要求脱机状态下四足机器人能够实现自动行走，利用超声波元件预判障碍物，当遇到障碍物时能够摇头避障，并能根据周围环境切换相应行走姿态，亦能够实现ps2手柄的远程操作。该机器人利用LSC-20舵机控制板控制16个舵机，当控制板的锂电池的供电不足时，控制板会让蜂鸣器报警，来提示给锂电池进行供电，避免锂电池过放的现象发生。要求根据录入的动作指令使各个舵机相互协调，完成爬行动作。要求共有3个爬行姿势，分别为高、中、低。共有4个运动方向，分别为前进、左移、右移、后退。并能根据所遇到的不可越过障碍物方向，做出相反的运动方向，当遇到可越过高障碍物时切换为低姿态通过，除此之外均以高姿态通过。运用Arduino所配备的Servo函数掌控舵机的运行，进而实现对超声波云台的调控。超声波传感器能够感应到方圆30cm内的障碍物，当出现障碍物时，Arduino控制的超声波云台摇头转动，并将相应指令传送到舵机完成对应动作。该四足机器人在完全脱机的情况下，也可以以根据ps2手柄发出的指令完成动作。关键字：LSC-20舵机控制板；Arduino；数字舵机AbstractThissubjectrequiresthatthequadrupedrobotcanrealizeautomaticwalkingundertheofflinestate,usetheultrasoniccomponenttopredictobstacles,shaketheheadtoavoidobstacleswhenencounteringobstacles,andcanswitchthecorrespondingwalkingpostureaccordingtothesurroundingenvironment,andcanalsorealizetheps2handle.Remoteoperation.TherobotusestheLSC-20servocontrolpaneltocontrol16steeringgears.Whenthepowersupplyofthelithiumbatteryofthecontrolpanelisinsufficient,thecontrolpanelwillcausethebuzzertoalarmtopromptthelithiumbatterytosupplypowertoavoidover-dischargingofthelithiumbattery.Aphenomenonoccurs.Itisrequiredtocoordinatetherespectivesteeringgearsaccordingtotheinputmotioninstructionstocompletethecrawlingmotion.Thereare3crawlingpositionsrequired,whicharehigh,mediumandlow.Thereare4movementdirections,whichareforward,leftshift,rightshift,andbackward.Andaccordingtothedirectionoftheobstaclethatcannotbecrossed,theoppositedirectionofmotioncanbemade.Whenitencountersahighobstacle,itcanswitchtoalowattitude,andtherestisahighattitude.UsetheArduinotocontroltheultrasonichead.ItisrequiredtodirectlyusetheServofunctionthatcomeswithArduinotocontroltheservo.Theeffectivedistanceoftheultrasonicsensortosenseobstaclesis30cm.Whenthereisanobstacleat30cm,theultrasonicheadoftheArduinocontrolshakestheheadandtransmitsthecorrespondingcommandtothesteeringgeartocompletethecorrespondingaction.Thequadrupedrobotcanalsocompletetheactionaccordingtothecommandissuedbytheps2handlewhenitiscompletelyoffline.Keywords:LSC-20Steeringgearcontrolpanel;Arduino;Digitalservo目录1.绪论·····································································································11.1研究背景·····························································································11.2选题意义·····························································································11.3.论文架构····························································································12.总体方案设计············································...
