ZHU Xiao-li（朱晓莉）, LI Shi-guang（李世光）, ZHANG Kai（张锴）, CHEN Yue-yin（陈曰印）, MENG Qiang-qiang（孟强强）
(College of Information and Electrical Engineering, Shandong University of Science and Technology, Qingdao 266590, China)
Abstract：A pair of synchronous line-tracking robots based on STM32 are designed. Each robot is actually a small intelligent car with seven reflective infrared photoelectric sensors ST188 installed in the front to track the line. Two rear wheels each driven by a moter are the driving wheels, while each moter is driven by an H-bridge circuit. The running direction is controlled by the turning of a servo fastened to the front wheel and the adjustment of speed difference between the rear wheels. Besides, the light-adaptive line-tracking can be performed. The speeds of the motors are controlled by adjusting pulse-width modulation (PWM) values and an angular displacement transducer is used to detect the relative position of the cars in real time. Thus, the speeds of the cars can be adjusted in time so that the synchronism of the cars can be achieved. Through experiments, the fast and accurate synchronous tracking can be well realized.
Key words：STM32; synchronous line-tracking robot; intelligent car; reflective infrared photoelectric sensor; angular displacement transducer
CLD number： TP242 Document code： A
Article ID： 1674-8042(2013)01-0058-05doi： 10.3969/j.issn.1674-8042.2013.01.013
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