基于多种传感器的自动导航小车避障的研究-控制理论与控制工程专业论文.docxVIP

优秀毕业论文 精品参考文献资料 Subject Subject ：Research on Obstacle Avoidance for the Automatic Guided Vehicle Based on Multi．sensor Specialty：Control Theory and Control Engineering Name ：Li Wenwen (Signature)量墨出幽 Instructor：Hou YIuanbin (Signature)-上丛铲逝 ABSTRACT To realize the autonomous obstacle avoidance of the Automatic Guided Vehicle(AGV)，a series of methods are presented in this paper,which include circumstance detection around the Automatic Guided Vehicle by ultrasonic sensors，obstacle input data process through computer techniques and pa：ttem recognition of obstacles with a fuzzy-neuro control algorithm． Aiming at the safety problem of the Automatic Guided Vehicle driving，this thesis studies a real-time short-distance obstacles detecting system,to realize the real-time distance measurement of the obstacles all around of the Automatic Guided Vbllicle and feedbacks the information to the users in real time．It mainly involves the following works： 111e system hardware is made up of ultrasonic sensors，computer and other junctions． 硼1c ultrasonic sensor would be Used to detect the environment and the computer is the data collection and control station in the system．The computer Was be Used to control the 4 couples ultrasonic detect distance sensor,deal with the data,send controlling signals and drive executive mechanism．1f1呛system will differentiate obstacle intellective and make the Automatic Guided Vehicle avoid colliding automatic． 11圮system software includes data collection module and data processing module．111e data collection module is used to control send堍ultrasonic siaml，the opening and dosing of I／0 passageways．m data processing module is used to calculate the distance of obstacle， differentiate obstacle orientation and chose controlling order．砀e software Was compiled with VC++，which is a special compile language． Through the analog and test of part function,the ultrasonic detect distance system designed by US has detected the obstacles in the range of design’S req