基于DSP的自动避障小车  

Automatic obstacle-avoiding car based on DSP

作　　者：赵晓军[1] 刘孟哲[1] 曹建坤[1] 高旭光[1] 

机构地区：[1]河北大学电子信息工程学院,河北保定071002

出　　处：《电子设计工程》2010年第3期135-137,共3页Electronic Design Engineering

基　　金：河北省教育厅重点科技项目(2005002D);河北大学博士基金资助项目(Y200502)

摘　　要：针对高危环境下对无人化作业的要求,设计一种简单的自动避障小车。小车以TMS320LF2407A型DSP为核心,采用3组红外传感器完成障碍物检测。在CCS环境下,软件程序设计实现小车的前进、停止、避障等动作,并利用PID算法和PWM方法,可精确控制小车运行速度。该设计响应速度快,结构简单,成本较低,室内环境下工作稳定,成功避开障碍物的概率约为93.33%,能够顺利到达目的地。For the requirements of the unmanned operation on high-risk environment, a simple automatic obstacle-avoiding ear was designed.The car with TMS320LF2407A DSP chip as the core,used three sets of infrared sensors to complete the obstacle detection.In the CCS environment,it achieved the car forward,stop,obstacle avoidance action with the PID algorithms and the PWM methods.The obstacle avoiding car achieved the precise control of the car＇s speed.The design has advantages of response fast,simple structure and low cost etc.The design has the stability performance on the indoor environment,it is probability of about 93.33% for successfully to avoid the obstacles, and it can reach their destinations.

关 键 词：避障 红外传感器 DSP PID 

分 类 号：TP23[自动化与计算机技术—检测技术与自动化装置]