Realization of micromouse consecutive turning based on STM32
Haoming Zhang1,2,3, Yinghai Wang3
COMPUTER MODELLING & NEW TECHNOLOGIES 2013 17(D) 58-63
1School of computer science & technology, Soochow University, Suzhou, 215006, China
2Department of Electrical and Information Engineering, Tongling University, tongling, 214000, China,
3Department of Electrical and Information Engineering, SIPIVT, 215321, Suzhou, China
In order to improve the stability and reduce dashing time of micromouse in complex maze, the traditional turning trajectory and speedtime curves were abandoned. “S” turning method is proposed to achieve fast consecutive turning. For the “S” turning in straight way, controller fully considers passing of the last turning and leading of the next turning, with the help of compensation and navigation sensors to realize precise correction of micromouse position; For the “S” turning in arcs, different speeds are used to track different arcs, gyroscope records its rotation angle and does real-time angle compensation. “S” turning method is verified by micromouse based on STM32. Experiments of seven consecutive turnings show that the method can greatly improve the stability and reduce the turning time of micromouse.