Principle and Realization of Micromouse Fast Dashing Turning Based on STM32

摘要

Micromouse is an intelligent maze robot. Affected by the ability of MCU, micromouse based on MCS-51 can not guarantee the performance of quick dashing of the micromouse. High speed micromouse servo controller based on STM32 was designed. In order to meet the fast dashing of micromouse in a complicated maze environment, different speed-time curves were used. To realize the fast turning of micromouse in dashing, the turning trajectory was divided into five paths, different control parameters and the navigation sensors were used to track the turning. Experimental results show that five-path tracking method can not only realize micromouse dashing turning in high speed, which helps improve the dynamic performance and stability of micromouse, but also reduce its dashing time.