基于Arduino双模式智能避障小车系统设计与实现.docVIP

基于Arduino双模式智能避障小车系统设计与实现 　　摘 要： 针对目前智能避障小车存在障碍物距离测量精度不高，存在探测盲区的问题，介绍了一种基于Arduino的智能避障系统。常见的超声波避障模块探测距离远不易受到干扰，但是反应时间长。红外测距探测距离近，测量速度快，精度高，但是受环境影响较大。利用Arduino作为主控系统，采用超声波测距、红外测距等多传感器信息融合的采集系统，优势互补，并通过对数据的算法优化，提升小车对环境的感测精度，有效提高了小车的避障成功率。基于Android开源平台的蓝牙串口通信APK，智能小车既可以自动避障，也可以接受人的帮助，进行人工避障，实现了手动和自动双操作模式，丰富了用户体验。实验证明，该系统运行稳定，对障碍物的探测更加精确，可有效实现全方位避障。 　　关键词： Arduino； 智能避障； 测距传感器； Android 　　中图分类号： TN02?34； TP368 文献标识码： A 文章编号： 1004?373X（2017）21?0094?04 　　Design and implementation of Arduino?based two?mode intelligent 　　obstacle avoidance system for car 　　ZHAO Yun’e1， 2， WU Zhenqiang2 　　（1. School of Computer Science， Shaanxi Normal University， Xi’an 710119， China； 2. Qinghai College of Architectural Technology， Xining 810012， China） 　　Abstract： Since the available intelligent obstacle avoidance system for car has low range measurement accuracy for obstacle and exists the detection blind area， an intelligent obstacle avoidance system based on Arduino is introduced. The commonly?used ultrasonic obstacle avoidance module has far detection distance and is hard to be disturbed， but has long reaction time. The infrared range?finding module has short detection distance， fast measuring speed and high measuring precision， but is affected by the environment greatly. The Arduino is taken as the main control system of the obstacle avoidance system. The acquisition system including ultrasonic rang?finding module， infrared rang?finding module and multi sensors is used to realize the information fusion and advantage complemention. The data is opitimized with the algorithm to improve the environment sensing accuracy and obstacle avoidance success rate of the car effectively. By using the Bluetooth serial communication APK based on the open source platform Android， the smart car can realize the automatic obstacle avoidance， and accept the help of human for artificial obstacle avoidance， which can implement the manual and automatic dual?operation mode and enrich the users′ experien