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超小型ステッピングモータで自律走行車を作ってみよう

https://blog.with2.net/link/?1965529

超小型ステッピングモータで自律走行車を作ってみよう

https://blog.with2.net/link/?1965529

以前紹介した記事でミニサイズの自立走行ロボットというのがあります。

SG90というサーボモータを全回転するように改造してクローラを駆動していましたが、今回手に入れた超小型ステッピングモータがこれに使えそうです。ドライバが余分にはなりますがきめ細かな走行制御は可能になりそうです。

とりあえず構想図を描いてみました。

全長94㎜、全幅72㎜というところです。いまいちの外観です、インパクトが足りないようです。製作意欲を湧かすにはデザインにもう一工夫いりそうです。

ということでセンサ部に多少デザインを加えてみました。なんだか代り映えしませんがなんとか製作意欲許容範囲内です。

全長10㎝、手のひらサイズの小型自律走行車が実現できそうです。

ステッピングモータの特長を活かしたきめ細かい速度制御で障害物を回避する動きを考えなければならない。

考えた動きのパターンは、

  • 前回のように首振り測距は普段は行わずにセンサ部は進行方向に向けたままひたすら前進を続けて前方障害物との距離が許容範囲を超えれば徐々に減速しながら最後は停止→首を左右に振って左右の障害物を確認→許容範囲のありそうな側に徐々に旋回→前方が開ければ再び前進。
  • 左右のどちらにも適当な許容範囲がなければ障害物なくなるまでその場旋回→ふたたび前進

というところですが、距離にしたがって速度変更するスケッチを次回の記事にて試験してみます。

構想はいったんこれにて終了。しばらくはブレッドボード上で回路テストに励みます。

あまりの酷暑に工作する気力がでない。

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