智能小车循迹避障的新策略
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摘要
此设计的智能小车在循迹与避障功能基础上规划了一种新的避障路径并设计了控制算法,通过小车转角控制与前进距离的控制,最终实现半圆形避障,小车能够回到原来引导线上且前进方向不变。通过数据拟合验证了转角与小车转向动作执行的时间关系,路程与前进时间的关系。最后通过误差补偿,提高了算法的精准度,由实验证明了路径规划算法的有效性。此设计可应用于货物定向运输或者智能汽车自主驾驶等方面。
In this design of intelligent car,a new obstacle avoidance path is planned on the basis of tracking and obstacle avoidance. The control algorithm is also designed. Finally the semi-circle obstacle avoidance is realized by controlling the angle of rotary movement and distance of forward. The car can go back to the original guide line and keep the direction of forward invariant.The relationship between the angle and the duration of action is verified,as well as distance and forward time. Finally,the precision of algorithm with error compensation is improved. The experiment proves the validity of the path planning algorithm. This design could serve to goods directional transportation or intelligent vehicle autonomous driving and etc.
In this design of intelligent car,a new obstacle avoidance path is planned on the basis of tracking and obstacle avoidance. The control algorithm is also designed. Finally the semi-circle obstacle avoidance is realized by controlling the angle of rotary movement and distance of forward. The car can go back to the original guide line and keep the direction of forward invariant.The relationship between the angle and the duration of action is verified,as well as distance and forward time. Finally,the precision of algorithm with error compensation is improved. The experiment proves the validity of the path planning algorithm. This design could serve to goods directional transportation or intelligent vehicle autonomous driving and etc.
引文
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[14]周美丽,延小进,白宗文.智能车路径信息图像采集控制系统的设计[J].国外电子测量技术,2015,34(8):87-89.ZHOU Meili,YAN Xiaojin,BAI Zongwen.Control system design of image acquisition to the intelligent vehicle path information[J].Foreign Electronic Measurement Technology,2015,34(8):87-89.
[15]张成,凌有铸,陈孟元.改进蚁群算法求解移动机器人路径规划[J].电子测量与仪器学报,2016,30(11):1758-1764.ZHANG Cheng,LING Youzhu,CHEN Mengyuan.Path planning of mobile robot based on an improved ant colony algorithm[J].Journal of Electronic Measurement and Instrumentation,2016,30(11):1758-1764.
[16]王伟,陈跃东,陈孟元.基于IAPF与多层Morphin搜索树的移动机器人路径规划[J].电子测量与仪器学报,2017,31(2):302-308.WANG Wei,CHEN Yuedong,CHEN Mengyuan.Mobile robot path planning based on IAPF and multilayer Morphin searching tree[J].Journal of Electronic Measurement and Instrumentation,2017,31(2):302-308.
[17]贾春雪,罗琦,龚杨杨.不规则障碍物的避障路径规划[J].计算机科学,2017,44(9):290-295.JIA Chunxue,LUO Qi,GONG Yangyang.Obstacle Avoidance Path Planning for Irregular Obstacles[J].Computer Science,2017,44(9):290-295.
[18]张萍.超声波避障智能小车的设计[J].自动化仪表,2017,38(9):40-43.ZHANG Ping.Design of the Ultrasonic Obstacle Avoidance Smart Car[J].Process Automation Instrumentation,2017,44(9):290-295.
[19]向亚军,严华.基于激光雷达的移动机器人避障策略研究[J].四川大学学报(自然科学版),2017,54(3):529-534.XIANG Yajun,YAN Hua.Obstacle avoidance for mobile robots strategy based on laser radar[J].Journal of Si.chuan University(Natural Science Edition),2017,54(3):529-534.
[20]王盟.基于DSP与超声波测距的农业机器人定位与避障设计[J].农机化研究,2017,8:207-211.WANG Meng.Localization and Obstacle Avoidance Control of Agricultural Robot Based on DSP and Ultrasonic Distance Measurement[J].Journal of Agricultural Mechanization Research,2017,8:207-211.
[2]韩毅,杨天.基于红外传感器的智能寻迹赛车的设计与实现[J].计算机工程与设计,2009,30(11):2687-2690.HAN Yi,YANG Tian.Design and implementation of intelligent-searching-track race car based on infrared sensofbfr[J].Computer Engineering and Design,2009,30(11):2687-2690.
[3]赵津,朱三超.基于Arduino单片机的智能避障小车设计[J].自动化与仪表,2013(5):1-4.ZHAO Jin,ZHU Sanchao.Design of Obstacle Avoidance Robot Car Based on Arduino Microcontroller[J].Instrumentation and Automation,2013(5):1-4.
[4]林智骅,平雪良,金登峰,等.基于STM32的全方位移动平台设计和控制[J].电子测量技术,2016,39(19):19-21.LIN Zhihua,PING Xueliang,JIN Dengfeng,et al.Design and control of Omni-directional mobile platform based on STM32[J].Electronic Measurement Technology,2016,39(19):19-21.
[5]张利,孙守兵,黄业伟,等.智能轮椅避障系统的研究[J].电子测量与仪器学报,2011,25(12):1018-1024.ZHANG Li,SUN Shoubing,HUANG Yewei,et al.Research on obstacle avoidance system of intelligent wheelchair[J].Journal of Electronic Measurement and Instrument,2011,25(12):1018-1024.
[6]顾志华,戈惠梅,徐晓慧,等.基于多传感器的智能小车避障系统设计[J].南京师范大学学报,2014,14(1):12-17.GU Zhihua,GE Huimei,XU Xiaohui,et al.Design of an Avoidance System on the Intelligent Vehicle Based on Multi-Sensors[J].Journal of Nanjing Normal University(Engineering and Technology Edition),2014,14(1):12-17.
[7]戈惠梅,徐晓慧,顾志华,等.基于Arduino的智能小车避障系统设计[J].现代电子技术,2014,37(11):118-120.GE Huimei,XU Xiaohui,GU Zhihua,et al.Design of arduino-based obstacle avoidance system on intelligent car[J].Modern Electronics Technique,2014,37(11):118-120.
[8]刘俊畅,芦利斌,谭力宁.基于Arduino的自动避障技术实现[J].信息技术,2014(12):170-172.LIU Junchang,LU Libing,TAN Liling.Implementation of obstacle automate avoidance based on Arduino[J].Information Technology,2014(12):170-172.
[9]李波,杨卫,张文栋,等.一种智能小车自主寻/循迹系统设计[J].计算机测量与控制,2012,20(10):2798-2801.LI Bo,YANG Wei,ZHANG Wendong,et al.Design of Independently Find/follow Trace System Based on Intelligent Car[J].Computer measurement&Control,2012,20(10):2798-2801.
[10]周游,景艳梅,何文学.智能寻迹系统设计[J].仪表技术,2012(3):25-27,30.ZHOU You,JING Yanmei,HE Wenxue.Design of an Intelligent Tracing System[J].Instrumentation Technology,2012(3):25-27,30.
[11]陈朝大,吕志胜.基于智能寻迹的清洁机器人控制系统[J].机床与液压,2015,43(21):91-94.CHEN Chaoda,LV Zhisheng.Control System of Cleaning Robot Based on Intelligent Tracing[J].Machina Tool&Hydraulics,2015,43(21):91-94.
[12]杨素梅,潘宏侠,卢士彬,等.智能循迹小车控制系统设计及其速度控制[J].车辆与动力技术,2013(4):34-38.YANG Sumei,PAN Hongxia,LU Shibing,et al.Control System Design and its Speed Control of an Intelligent Tracing Car[J].Vehicle&Power Technology,2013(4):34-38.
[13]王宇,董辉,徐建明.一种新的智能小车控制策略[J].浙江工业大学学报,2012,40(2):217-221.WANG Yu,DONG Hui,XU Jiangming.A new control strategy for intelligent vehicle[J].Journal of Zhejiang Universty of Techmology,2012,40(2):217-221.974
[14]周美丽,延小进,白宗文.智能车路径信息图像采集控制系统的设计[J].国外电子测量技术,2015,34(8):87-89.ZHOU Meili,YAN Xiaojin,BAI Zongwen.Control system design of image acquisition to the intelligent vehicle path information[J].Foreign Electronic Measurement Technology,2015,34(8):87-89.
[15]张成,凌有铸,陈孟元.改进蚁群算法求解移动机器人路径规划[J].电子测量与仪器学报,2016,30(11):1758-1764.ZHANG Cheng,LING Youzhu,CHEN Mengyuan.Path planning of mobile robot based on an improved ant colony algorithm[J].Journal of Electronic Measurement and Instrumentation,2016,30(11):1758-1764.
[16]王伟,陈跃东,陈孟元.基于IAPF与多层Morphin搜索树的移动机器人路径规划[J].电子测量与仪器学报,2017,31(2):302-308.WANG Wei,CHEN Yuedong,CHEN Mengyuan.Mobile robot path planning based on IAPF and multilayer Morphin searching tree[J].Journal of Electronic Measurement and Instrumentation,2017,31(2):302-308.
[17]贾春雪,罗琦,龚杨杨.不规则障碍物的避障路径规划[J].计算机科学,2017,44(9):290-295.JIA Chunxue,LUO Qi,GONG Yangyang.Obstacle Avoidance Path Planning for Irregular Obstacles[J].Computer Science,2017,44(9):290-295.
[18]张萍.超声波避障智能小车的设计[J].自动化仪表,2017,38(9):40-43.ZHANG Ping.Design of the Ultrasonic Obstacle Avoidance Smart Car[J].Process Automation Instrumentation,2017,44(9):290-295.
[19]向亚军,严华.基于激光雷达的移动机器人避障策略研究[J].四川大学学报(自然科学版),2017,54(3):529-534.XIANG Yajun,YAN Hua.Obstacle avoidance for mobile robots strategy based on laser radar[J].Journal of Si.chuan University(Natural Science Edition),2017,54(3):529-534.
[20]王盟.基于DSP与超声波测距的农业机器人定位与避障设计[J].农机化研究,2017,8:207-211.WANG Meng.Localization and Obstacle Avoidance Control of Agricultural Robot Based on DSP and Ultrasonic Distance Measurement[J].Journal of Agricultural Mechanization Research,2017,8:207-211.