Design of low-cost inertial multi-redundant navigation control integrated machine
In order to accurately locate and position the wheeled mobile robot and realize its stable motion control, a low-cost inertial multi-redundant navigation and control integrated machine is designed, and specific software and hardware design methods are given. The switching power supply MP2482DN and l...
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| Main Authors: | , , , |
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| Format: | Article |
| Language: | Chinese |
| Published: |
National Computer System Engineering Research Institute of China
2024-02-01
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| Series: | Dianzi Jishu Yingyong |
| Subjects: | |
| Online Access: | http://www.chinaaet.com/article/3000163487 |
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| Summary: | In order to accurately locate and position the wheeled mobile robot and realize its stable motion control, a low-cost inertial multi-redundant navigation and control integrated machine is designed, and specific software and hardware design methods are given. The switching power supply MP2482DN and linear power supply JW29300U-3.3V of the voltage stabilizing circuit provide a stable 5 V and 3.3 V higher power power for the integrated machine; the SPI of the controller STM32H7 uses a star topology bus to communicate with three six-axis inertial chips BMI088, and two TTL serial ports communicate with the differential satellite positioning board in two directions to realize the differential positioning and attitude determination of the robot; the CAN bus interface of the controller STM32F4 communicates with the robot chassis two-way to realize motion control, and one TTL serial port realizes two-way communication with the controller STM32H7 |
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| ISSN: | 0258-7998 |