Design of a Small Sweeping Robot Based on STM32

Abstract With the continuous improvement of people’s living standards and the emergence of various intelligent appliances, a household floor sweeping robot is designed in this subject, which can automatically clean the ground in the room. The robot takes STM32F103ZET6 single chip microcomputer as the controller, uses two DC motors and L298N driving chips to drive the robot to walk, and uses ultrasonic sensors to detect indoor obstacles, The infrared sensor is used to detect the indoor edge position, the straight travel control of the robot is realized through the coding disk combined with PID algorithm, and the turning control is realized through differential control and PWM speed regulation. The robot can realize the garbage cleaning in the regular room, and has a certain application prospect.