【正文】 東北大學(xué)秦皇島分校畢業(yè)設(shè)計(jì)（論文） 第 I 頁 畢業(yè)設(shè)計(jì) (論 文 ) 基于單片機(jī)的避障小車設(shè)計(jì)與實(shí)現(xiàn) 系 別 專 業(yè) 班級(jí) 學(xué)號(hào) 姓 名 指導(dǎo)教師 東北大學(xué)秦皇島分校畢業(yè)設(shè)計(jì)（論文） 第 II 頁 摘 要 避障智能小車，即輪式 避障 機(jī)器人，是移動(dòng)機(jī)器人的一種。 基于四輪移動(dòng)小車為框架，以具有 16KB 系統(tǒng)內(nèi)可編程 Flash 的 8 位 AVR 微控制器為核心，開發(fā)研制了一套智能小車所用的避障 系統(tǒng) ，該 系統(tǒng) 主要 由控制模塊、檢測(cè)模塊、供電模塊和運(yùn)動(dòng)模塊組成。本文使用了超聲波傳感器對(duì)智能小車周圍的環(huán)境進(jìn)行探測(cè)，在超聲波測(cè)距中，采用循環(huán)發(fā)射的方式，有效避免了回波信號(hào)干擾，采用 1 個(gè)發(fā)射器發(fā)射、 2 個(gè)鄰近的接收器接收的方法，為避障小車提供同一方向上的多個(gè)距離信息，并且給出了距離信息的多種表示方法。并且利用 AVR 單片機(jī)技術(shù)對(duì)超聲波傳感器所 探得的障礙物信息進(jìn)行處理，如距離、角度等，最終通過一種新穎的控制算法來完成障礙物的 識(shí)別，通過 PWM 調(diào)速來控制 L298N 的電機(jī)驅(qū)動(dòng)從而實(shí)現(xiàn)了智能小車的自主避障。最后經(jīng)過編碼、調(diào)試及反復(fù)驗(yàn)證最終得出結(jié)論，即完成了基于單片機(jī)的避障小車的設(shè)計(jì)與實(shí)現(xiàn)。 關(guān)鍵詞 ： 避障 ， ATmega16 單片機(jī) ， 超聲波傳感器 ， L298N 電機(jī)驅(qū)動(dòng) 東北大學(xué)秦皇島分校畢業(yè)設(shè)計(jì)（論文） 第 III 頁 Design and Implementation of Smart Car Obstacle Avoidance Based on SingleChip Microputer Author ： Chenyandong Tutor ： Weiyongtao Abstract Smart car obstacle avoidance, which is called wheeled robot obstacle avoidance, is one kind of mobile robot. Based on the framework of a fourwheel mobile robot, and the core of 8bit 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 SingleChip Microputer to process the obstacle information discovered by ultrasonic sensors, such as distance and angle. Then the thesis pletes 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 acplishes the design and implementation of the obstacle avoidance car based on SingleChip Microputer is achieved through coding, debugging and repeatedly verification. Key words: Obstacle Avoidance， ATmega16 SingleChip Microputer， Ultrasonic Sensors， L298N Motor Driver 東北大學(xué)秦皇島分校畢業(yè)設(shè)計(jì)（論文） 第 IV 頁 目 錄 1 緒論 ...................................................................................................................................... 1 引言 ............................................................................................................................. 1 選題背景 ..................................................................................................................... 1 研究意義與目的 ......................................................................................................... 2 避障小車研究現(xiàn)狀 ..................................................................................................... 3 國(guó)內(nèi)避障小車研究現(xiàn)狀 .................................................................................. 3 國(guó)外避障小車研究現(xiàn)狀 .................................................................................. 3 論文研究的預(yù)期目標(biāo)、主要內(nèi)容 ............................................................................. 4 論文研究預(yù)期目標(biāo) .......................................................................................... 4 論文的主要內(nèi)容 .............................................................................................. 4 避障小車的關(guān)鍵技術(shù) ................................................................................................. 5 避障技術(shù) .......................................................................................................... 5 識(shí)別技術(shù) .......................................................................................................... 6 驅(qū)動(dòng)和結(jié)構(gòu)技術(shù) .............................................................................................. 6 傳感器技術(shù) ...................................................................................................... 7 2 總體方案設(shè)計(jì) ...................................................................................................................... 9 引言 ............................................................................................................................. 9 系統(tǒng)總體控制方案的確定 ......................................................................................... 9 系統(tǒng)任務(wù)描述 .................................................................................................. 9 控制系統(tǒng)要求 .................................................................................................. 9 控制對(duì)象與環(huán)境探測(cè) .................................................................................... 10 微機(jī)的作用 .................................................................................................... 10 系統(tǒng)總體方案論證 ................................................................................................... 10 參數(shù)輸入方案 ................................................................................................ 10 直流電機(jī)方案 ................................................................................................ 11 電機(jī)驅(qū)動(dòng)與調(diào)速方案 .................................................................................... 11 障礙檢測(cè)方案 ................................................................................................ 12 供電方案 ........................................................................................................ 13 核心