超声探路车的自主导航行驶办法  

The driving methods of the autonomous navigated ultrasonic exploring car

作　　者：张海鹰[1] 高艳丽[1] 张树团[1] 

机构地区：[1]海军航空工程学院控制工程系,山东烟台264000

出　　处：《电子设计工程》2011年第11期76-78,共3页Electronic Design Engineering

摘　　要：为了加强智能车辆在全未知环境下的自主导航行驶能力,设计了使用步进电动机驱动小波束角超声传感器旋转探测的方法,获取了较以往相比更加全面准确地环境信息。在此基础上,针对不同的环境状况设计了包含循线行驶模式在内的多种行驶方法,并分析了在各种不同的行驶模式下系统相关参数的设置,和各参数之间的关系,使车辆在各类环境下都能保持较高的行驶效率。In order to increase the autonomous navigated capability of the intelligent car in absolute unknown environment,a method that using an ultrasonic sensor driven by a step motor for rotating detection is designed.It could get more exact and comprehensive environment information than the old ways.Base on this,several kinds of traveling methods including the tracking drive method are designed against different conditions.And also the setting values of the parameters and the relations between parameters in the system are analyzed.It makes the car can drive with high efficiency in all environments.

关 键 词：超声波测距 旋转探测 自主导航 避障 循线行驶 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]