【正文】 bugging, design control algorithms based on tracking different paths environments, finished toy car on a predetermined path intelligent tracking travel functions. Keyword: Intelligent TrackingVehicle。其中，使用嵌入式微處理器和紅外 傳感器加裝 于玩具小車之上， 感應周圍環(huán)境變化，獲取路面信息，處理之后通過無線通信模塊與計算機進行實時通信。沈陽理工大學學士學位論文 I 摘 要 智能車輛是一個集環(huán)境感知、規(guī)劃決策、多等級輔助駕駛等功能于一體的綜合系統(tǒng)，它集中運用了計算機、現(xiàn)代傳感、信息融合、通訊及自動控制等技術(shù)。本論文主要通過玩具小車模擬智能無人 循跡 駕駛汽車，實現(xiàn)其基本功能。本文實現(xiàn)的智能玩具小車，通過對玩具車電子硬件 、傳感器設計 和對嵌入式處理器軟件的編程、調(diào)試，設計 了 根據(jù)不同路徑環(huán)境下的循跡控制算法，完成了玩具小車在規(guī)定路徑上的智能循跡行駛功能。 Embedded Microprocessors。Automatic Controll 沈陽理工大學學士學位論文 III 目錄 1 引言 ..................................................................................................................................... 1 研究背景和意義 ......................................................................................................... 1 研究內(nèi)容 ..................................................................................................................... 1 2 設計方案 ............................................................................................................................. 2 硬件設計方案 ............................................................................................................. 2 主控芯片 ........................................................................................................ 2 電源電路 ........................................................................................................ 2 電機和驅(qū)動模塊 ............................................................................................ 3 循跡電路 ........................................................................................................ 3 最終方案選擇 ................................................................................................ 4 總體設計框圖 ............................................................................................................. 4 3 硬件設計 ............................................................................................................................. 6 主控電路設計 ............................................................................................................. 6 STM32F103 芯片 硬件結(jié)構(gòu) ........................................................................... 6 最小應用系統(tǒng)供電電路設計 ........................................................................ 7 電機驅(qū)動模塊設計 ..................................................................................................... 8 驅(qū)動電路原理 ................................................................................................ 8 電機驅(qū)動模塊 ................................................................................................ 9 接口定義 ...................................................................................................... 10 舵機驅(qū)動設計 ........................................................................................................... 11 測速模塊設計 ........................................................................................................... 12 循跡電路設計 ........................................................................................................... 13 輔助及調(diào)試電路設計 ............................................................................................... 15 液晶顯示器 .................................................................................................. 15 無線通信 ...................................................................................................... 15 4 軟件設計 ........................................................................................................................... 17 主程序 ....................................................................................................................... 17 沈陽理工大學學士學位論文 IV 循跡算法 ................................................................................................................... 19 傳感器布局 .................................................................................................. 19 直道及簡單彎道的循 跡方法 ...................................................................... 20 垂直交叉路口的循跡方法 .......................................................................... 21 S 型彎及 U型彎的循跡方法 ...................................................................... 23 復 雜賽道的分段循跡方法 .......................................................................... 25 自動控制算法 ........................................................................................................... 26 PID 算法介紹 ............................................................................................. 26 PID 控制在智能玩具車上的實現(xiàn) ............................................................. 27 各模塊軟件設計 ....................................................................................................... 28 電機控制及調(diào)速 .......................................................................................... 28 舵機控制 ...................................................................................................... 30 無線通信 ...................................................................................................... 30 液晶顯示 ...................................................................................................... 32 5 制作與調(diào)試 ..........................................................................................................................1 硬件部分制作 ............................................................................................................. 1 系統(tǒng)調(diào)試 ..................................................................................................................... 1 硬件調(diào)試 ........................................................................................................ 1 軟件參數(shù)調(diào)試 ...........................................................................