第1部分基礎知識
第1章輪式機器人的基礎知識·········2
1.1輪式機器人的定義與應用········2
1.2輪式機器人的結構··········3
1.3機器人的驅動方式··········4
1.4本章總結············5
第2章機器人的構成·········6
2.1機器人的規劃··········6
2.2輪式機器人的轉向結構·········8
2.2.1輪式機器人的差速轉向··········8
2.2.2輪式機器人的獨立舵機轉向··········9
2.2.3阿克曼轉向結構··········11
2.2.4輪式機器人轉向比較··········11
2.2.5差速機器人里程計運動模型·········12
2.3輪式機器人電動機的選型········13
2.3.1輪式機器人：電動機性能··········13
2.3.2輪式機器人：GA370電動機參數計算·······14
2.4機器人的驅動模塊··········15
2.4.1驅動芯片L298N性能··········15
2.4.2驅動模塊L298N的使用方法·········16
2.4.3驅動板TB6612FNG的使用方法·········17
2.5輪式機器人的大腦：控制器選型·······18
2.6輪式機器人底盤DIY·········19
2.6.1DIY的兩種方法···········19
2.6.2輪式機器人DIY改裝法··········21


2.7輪式機器人總結·········23
2.7.1輪式機器人整體框圖··········23
2.7.2輪式機器人開發中涉及的軟件列表········23
2.8本章總結··········24
第3章輪式機器人的軟件提升········25
3.1Keil軟件··········25
3.1.1Keil軟件的安裝···········25
3.1.2Keil5軟件的使用··········27
3.2Linux基礎知識··········28
3.2.1Linux的Shell···········28
3.2.2編寫程序與腳本··········31
3.3網絡基礎知識··········32
3.3.1基礎通信···········32
3.3.2MQTT協議············33
3.3.3Linux安裝Mosquitto···········36
3.3.4MQTT測試工具··········37
3.3.5HTTPPOST方法···········38
3.4算法············39
3.4.1PID控制算法············39
3.4.2移位濾波均值算法···········44
3.4.3高、低通濾波和互補濾波器·········45
3.4.4初識貝葉斯············48
3.4.5二值貝葉斯濾波··········49
3.4.6卡爾曼濾波············51
3.5本章總結··········58
第2部分技術提升
第4章輪式機器人的底盤控制器：STM32開發······60
4.1底盤控制器的對外神經元：輸出PWM······61
4.1.1使用Keil模擬PWM輸出·········61
4.1.2機器人中使用的PWM···········66
4.2底盤控制器的運動神經元：驅動控制·······66
4.2.1驅動控制器的連接···········66

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4.2.2驅動源碼分析···········66
4.3底盤控制器的捕獲神經元：PWM捕獲測速······68
4.3.1硬件·············68
4.3.2測速源碼分析···········69
4.4底盤控制器的中樞神經元：串口通信控制指令·····71
4.5底盤控制器的觸覺神經元：ADC電池電壓監測·····75
4.5.1硬件連接···········75
4.5.2源碼分析···········75
4.6底盤控制器的發光控制神經元：LED控制······77
4.6.1硬件連接···········77
4.6.2源碼分析···········77
4.7本章總結··········78
第5章輪式機器人的主控制器：樹莓派開發······79
5.1樹莓派簡介···········79
5.2樹莓派資源···········80
5.3輪式機器人的交互窗口：樹莓派Shell·······80
5.4輪式機器人上網接口：Socket通信·······83
5.5輪式機器人從控制器通信接口：樹莓派串口······83
5.5.1樹莓派串口配置··········83
5.5.2樹莓派USB轉串口···········86
5.5.3綁定串口···········87
5.6輪式機器人無線聯網接口：樹莓派的WiFi功能·····88
5.6.1樹莓派WiFi連接路由器·········88
5.6.2樹莓派WiFi做AP熱點···········89
5.7機器人和手機App通信接口：樹莓派藍牙······93
5.7.1了解藍牙···········93
5.7.2使用Socket功能進行藍牙通信·········95
5.8輪式機器人野外上網接口：4G模塊········96
5.8.1USB-4G模塊的配置···········97
5.8.2USB-4G轉WiFi···········97
5.9輪式機器人的指南針：RTIMU模塊開發······98
5.9.1RTIMULib庫介紹··········98
5.9.2RTIMULib庫的編譯和測試··········99
5.9.3基于RTIMULib的地磁計校準·········101


5.9.4基于RTIMULib的加速計校準·········104
5.9.5基于RTIMULib的陀螺儀校準·········104
5.10輪式機器人的Web搭建········104
5.11輪式機器人樹莓派固件燒錄·······113
5.12本章總結···········114
第6章輪式機器人的其他神經元：傳感器開發·····115
6.1DS18B20溫度傳感器開發········115
6.1.1DS18B20溫度傳感器的接口定義·········115
6.1.2代碼實現···········116
6.2GPS戶外定位傳感器··········118
6.2.1定位模塊的接口定義··········118
6.2.2NMEA-0183協議···········118
6.2.3協議解析流程及實現··········119
6.3激光雷達傳感器··········121
6.3.1激光雷達介紹···········122
6.3.2激光雷達協議···········123
6.4攝像頭圖像傳感器·········127
6.4.1攝像頭的使用···········128
6.4.2視覺循跡機器人實例··········128
6.5本章總結···········129
第7章輪式機器人的云：物聯網云平臺······130
7.1微型服務云平臺簡介··········130
7.2搭建局域網的Server·········130
7.2.1安裝PhpStudy···········131
7.2.2搭建第一個物聯網云··········132
7.3阿里云服務器···········133
7.3.1阿里云服務器選型···········133
7.3.2搭建LNMP服務器··········135
7.3.3LAMP服務器的搭建···········138
7.4JavaScript建立簡單的MQTT通信········140
7.5本章總結···········143


第8章輪式機器人路徑規劃·········144
8.1機器人路徑規劃··········144
8.2機器人全局規劃··········145
8.2.1機器人柵格建圖概述··········145
8.2.2借助OpenCV畫軌跡···········146
8.2.3柵格地圖的建圖過程··········151
8.2.4機器人全局整合規劃··········157
8.2.5A*算法···········159
8.3機器人局部決策··········170
8.3.1DWA算法············170
8.3.2VFH避障算法···········173
8.4本章總結···········177
第9章輪式機器人路徑的定位和導航·······178
9.1輪式機器人路徑跟隨··········178
9.1.1MovePose和PID整定··········178
9.1.2PurePuresuit跟隨算法··········182
9.1.3路徑跟隨與測試··········185
9.2輪式機器人定位匹配··········189
9.2.1粒子濾波···········189
9.2.2粒子濾波定位（蒙特卡羅定位）·········190
9.3GNSS定位導航·········190
9.4本章總結···········192
第3部分實戰案例
第10章機器人定位終端實例·········194
10.1機器人實體終端：模塊構成········194
10.2輪式機器人通信：STM32和樹莓派之間的通信協議·····195
10.3機器人與云平臺通信：MQTT通信協議······197
10.4輪式機器人：配置網絡·········198
10.5輪式機器人軟件說明········202
10.5.1軟件框架···········202
10.5.2控制App：navigation·········203
10.5.3硬件信息確認···········205


10.6輪式機器人的人機交互·········205
10.7輪式機器人云平臺功能介紹········206
10.7.1添加設備···········206
10.7.2設備信息···········207
10.7.3趣味玩法···········207
10.7.4路徑規劃···········209
10.8手動規劃路徑的原理及操作·······210
10.9本章總結···········211
第11章BreezySLAM室內定位導航機器人實例······212
11.1BreezySLAM的安裝·········212
11.2BreezySLAM測試··········214
11.3BreezySLAM源碼分析········217
11.4硬件搭建···········221
11.5軟件實現···········221
11.6測試運行···········227
11.7本章總結···········227
第12章ROS機器人開發實例·········228
12.1ROS介紹··········228
12.2ROS工具包··········229
12.3Ubuntu環境下安裝ROS·········230
12.4發布GPS定位node·········233
12.5發布imunode··········234
12.6STM32通信node·········235
12.7QtforROS界面··········238
12.8本章總結···········243