基于Arduino的自动避障及通信控制智能小车系统的研究与设计

发布时间：2018-05-17 03:24

本文选题：智能小车 + 自动避障　；参考：《吉林大学》2017年硕士论文

【摘要】：随着电子技术的急速发展,智能小车的应用越来越广泛,不仅仅涵盖了军事、工业等行业,日常生活中也能看到智能小车的身影。对于智能小车来说,避障功能是研究与设计的主要部分,也是核心技术之一。自动避障功能,不仅对智能小车的安全行驶具有重要意义,而且能够提升智能小车的工作效率,对智能小车搬运货物、无人驾驶等功能的自动性能有很大帮助。与此同时,通信控制功能使得智能小车的操作更加简便快捷、灵活。本文目标的重点在于研究并设计一套可通信控制的具有自动避障功能以及通信控制功能的智能小车系统,综合了测距传感器的选择及配合、小车核心的选择、通信接口及通信上位机的配合、电路设计等部分。经过对比,本文选用的Arduino Uno R3平台为智能小车的核心,控制智能小车的避障、行进等功能。在通信控制方面,由于Arduino平台与Android平台能够进行很好的配合使用,且两大平台均为现在流行的开源平台,故通信上位机将在Android平台上研发。在通信接口方面,因为蓝牙技术具有组网方便、没有特别的通信视角和方向等优点,所以智能小车与上位机之间的通信接口采用蓝牙技术。在通信建立之后,在Android平台上进行APP操作就能控制智能小车完成前进、后退、停止等动作。此APP主要功能是完成蓝牙设备之间的的通信建立以及指令发送等功能。在测距传感器的使用方面,本系统采用红外线测距传感器配合超声波测距传感器共同使用的方法实现智能小车对其周围环境信息的采集。并且,在超声波传感器上增加舵机模块,从而达到智能小车系统自动避障功能更加准确的效果以及自动避障之后行进路线的自动选择效果。经测试,本智能小车系统能够完成自动避障,且通信稳定、电路响应及时准确、操作简单,为本智能小车系统功能的优化奠定了基础。
[Abstract]:With the rapid development of electronic technology, the application of smart car is more and more extensive. It not only covers military, industrial and other industries, but also can see the figure of smart car in daily life. For smart car, obstacle avoidance is the main part of research and design, and also one of the core technologies. The function of automatic obstacle avoidance is not only of great significance to the safe driving of the intelligent car, but also can improve the working efficiency of the intelligent car, and it is of great help to the automatic performance of the functions such as moving goods and pilotless vehicles. At the same time, the communication control function makes the intelligent car operation more simple, fast and flexible. The focus of this paper is to study and design an intelligent vehicle system with the function of automatic obstacle avoidance and communication control, which integrates the selection and cooperation of ranging sensors and the selection of the core of the vehicle. Communication interface and communication host computer cooperation, circuit design and other parts. Through comparison, the Arduino Uno R3 platform selected in this paper is the core of the intelligent car, which controls the function of avoiding obstacles and marching. In the aspect of communication control, because Arduino platform and Android platform can work well together, and both platforms are popular open source platforms, communication host computer will be developed on Android platform. In the aspect of communication interface, because Bluetooth technology has the advantages of convenient networking and no special communication angle and direction, Bluetooth technology is used in the communication interface between the intelligent car and the host computer. After the communication is established, the APP operation on the Android platform can control the intelligent car to complete the moving forward, backward, stop and so on. The main function of this APP is to establish the communication between Bluetooth devices and send instructions. In the use of ranging sensors, the system uses infrared ranging sensors combined with ultrasonic ranging sensors to achieve the intelligent car to its surrounding environment information collection. In addition, the steering gear module is added to the ultrasonic sensor, so that the automatic obstacle avoidance function of the intelligent trolley system can be more accurate and the automatic route selection after the automatic obstacle avoidance can be achieved. The test results show that the intelligent vehicle system can avoid obstacles automatically, and the communication is stable, the circuit response is timely and accurate, and the operation is simple, which lays a foundation for the optimization of the function of the intelligent car system.
【学位授予单位】：吉林大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：TP23

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