基于ATmega16单片机的避障小车设计与实现.doc

毕业设计(论 文) 基于单片机的避障小车设计与实现 系 别 专 业 班级学号 姓 名 指导教师 摘 要 避障智能小车，即轮式机器人，是移动机器人的一种。基于四轮移动小车为框架，以具有16KB系统内可编程Flash的8位AVR微控制器为核心，开发研制了一套智能小车所用的避障，该主要由控制模块、检测模块、供电模块和运动模块组成。本文使用了超声波传感器对智能小车周围的环境进行探测，在超声波测距中，采用循环发射的方式，有效避免了回波信号干扰，采用1个发射器发射、2个邻近的接收器接收的方法，为避障小车提供同一方向上的多个距离信息，并且给出了距离信息的多种表示方法。并且利用AVR单片机技术对超声波传感器所探得的障碍物信息进行处理，如距离、角度等，最终通过一种新颖的控制算法来完成障碍物的识别，通过PWM调速来控制L298N的电机驱动从而实现了智能小车的自主避障。最后经过编码、调试及反复验证最终得出结论，即完成了基于单片机的避障小车的设计与实现。 ：避障ATmega16单片机超声波传感器L298N电机驱动 Abstract Smart car obstacle avoidance, which is called wheeled robot obstacle avoidance, is one kind of mobile robot. Based on the framework of a four-wheel mobile robot, and the core of 8-bit AVR micro controller with programmable flash in 16 KB system, the thesis has developed a module of obstacle avoidance which is used in the smart car. The module mainly consists of the control part, detection part, power part and motor part. The thesis makes use of ultrasonic sensors to detect the environment around the smart car. In the ultrasonic ranging, it has effectively prevented the echo signal interference by the way of cyclic launch. And with a launcher and two neighboring receivers, it is provided with much information about distance in the same direction. The method also gives more ways to represent the distance. The thesis also uses AVR Single-Chip Microcomputer to process the obstacle information discovered by ultrasonic sensors, such as distance and angle. Then the thesis completes the obstacle pattern recognition through a new control algorithm, and achieved autonomous obstacle avoidance with PWM controlling L298N motor driver. Finally, the thesis makes the conclusion that it accomplishes the design and implementation of the obstacle avoidance car based on Single-Chip Microcomputer is achieved through coding, debugging and repeatedly verification. Key words: Obstacle Avoidance，ATmega16 Si