摘要
该文基于超声波传感器和蓝牙技术设计了一种双模式智能避障小车。该小车采用STM32F407作为系统控制器,以自动模式和手动模式控制小车进行避障。当处于自动模式时,小车根据5路US-100超声波传感器获取路障信息,进行算法融合之后,做出避障决策,从而实现自主避障;当处于手动模式时,小车根据上位机APP人工控制进行避障,从而达到避障功能。实验表明,智能小车功能符合要求,系统运行具有较好的稳定性和实用性。该技术可应用于无人驾驶、遥控汽车玩具、智能轮椅、扫地机器人等领域。
This paper designs a dual-mode intelligent obstacle avoidance car based on ultrasonic sensor and Bluetooth technology.The car adopts STM32F407as the system controller to control the car to avoid obstacles in automatic mode and manual mode.When in automatic mode,the car obtains roadblock information according to the 5 way US-100 ultrasonic sensor and makes obstacle avoidance decisions after fusion of algorithms,so as to achieve autonomous obstacle avoidance.When in manual mode,the car is manually controlled by the upper computer APP to avoid obstacles,thus achieving the barrier avoidance function.The experiment shows that the function of the intelligent car meets the requirements,and the operation of the system has good stability and practicability.This technology can be APPlied to unmanned,remote controlled car toys,intelligent wheelchairs,ground sweeping robots and other fields.
作者
王钰
朱琳
苏世雄
马新华
WANG Yu;ZHU Lin;SU Shi-xiong;MA Xin-hua(School of Computer Science,Xi'an Aeronautical University,Xi'an 710077,China;Motorcycle Test Technology Institute,China South Industries Group Corporation,Xi'an 710032,China)
出处
《自动化与仪表》
2021年第3期33-36,54,共5页
Automation & Instrumentation
基金
国家自然科学基金面上项目(61871313)
西安航空学院校级项目(2017ky1225)。
关键词
STM32微控制器
算法融合
智能避障
智能小车
STM32 microcontroller
algorithm fusion
intelligent obstacle avoidance
smart car
