海南热带海洋学院学报2025，Vol.32Issue(2)：74-85,12.DOI:10.13307/j.issn.2096-3122.2025.02.08
基于STM32迷宫机器人设计与实现
Design and Implementation of STM32-Based Maze Robot
摘要
Abstract
According to the design requirements of the IEEE standard micro-maze robot,the hardware platform of the maze robot with microcontroller STM32F767 was reconstructed,and the mass and volume of the current maze robot were compared with those of the maze robot before reconstruction.As for the problems caused by the employment of A*algorithm in the path planning of maze robots,such as long search time and high search cost,an improved A* maze ro-bot path planning algorithm was proposed.The global optimal path is searched accurately and the Bessel curve is smoothed by the improved A* algorithm.The results showed that the hardware reconstructed maze robot is lighter and smaller.Compared with some algorithms,the simulation time,search cost,and optimal path of the improved A* algo-rithm are reduced by 45.99%,64.79%,and 18.02%,respectively,and the algorithm's performance is significantly im-proved.The smoothed path is more suitable for robot movement,and the robot can accurately control the turn and en-hance the controllability of the robot path.The designed maze robot can complete maze search,path planning,and maze sprint to verify the feasibility and safety of the algorithm design.关键词
迷宫机器人/STM32F767/硬件平台/改进A*算法/贝塞尔曲线Key words
maze robot/STM32F767/hardware platform/improved A* algorithm/Bezier curve分类
信息技术与安全科学引用本文复制引用
范县成,汤巍,余叶青,李涛..基于STM32迷宫机器人设计与实现[J].海南热带海洋学院学报,2025,32(2):74-85,12.基金项目
安徽省高校自然科学研究项目(2023AH052918) （2023AH052918）
