基于STM32的循迹避障智能小车的设计.pdfVIP

总第329期 计算机与数字工程 Vol . 45 No . 3 2017年第3期 Com puter • D ig ita l Engineering 549 基 于 STM3 2 的循迹避障智能小车的设计$ 吕 闪 金 已 婷 沈 巍 (大连交通大学电气信息学院大连 116028) 摘要介绍了基于模糊控制的智能小车循迹避障系统设计，该系统采用改进型超声波测距传感器和红外光电传感 器采集外部障碍信息，然后将障碍信息数据经M C U 计算处理并传送至模糊控制器, 经过模糊算法的计算，输出相对应的行 动信号, 控制智能小车的前进、转向等。论文采用双输人单输出结构的模糊控制器，输人量分别取为避障小车车体各个传感 器采集的障碍物距离信息，智能车相对路径中心线的方向偏差，输出量变为舵机期望转角。通过程序仿真及实际验证表明， 小车能够在不同环境中实现自主循迹避障。 关键词智能小车；模糊控制；循迹；避障 中图分类号 TP302 D O I ：10. 3969/j. issa 1672-9722. 2017. 03. 030 Design of Intelligent Tracking and Obstacle Avoidance Car Based on STM32 LV Shan JIN Siting SHEN Wei (School of Electronics and In fo rm a tion E ngineering，D alian Jiaotong U n iv e rs ity ，Dalian 116028) Abstract T h is paper introduces the system o f the tracking obstacle avoidance car based on fuzzy co n tro l, the system a­ dopts the advanced ultrasonic sensors and infrared electric sensor collecting external info rm a tio n , then it w ill process obstacle inform ation data by the M C U and transfer to the fuzzy co n tro lle r, o u tpu t corresponding signal o f action through the fuzzy al­ g o rith m , control the in te llig e n t car fo rw a rd , tu rn and so o n T h is paper adopts the structure of the double in p u t and single o u tpu t fuzzy co n tro lle r, uses the distance of obstacle and direction deviation of the in te llig e n t car relative path center fo r in ­ p u t, uses the steering expected angle fo r output. T h ro u g h process sim ulation and actual ve rification show th a t the car can a­ chieve autonomous tracking obstacle avoidance in d iff