基于包容式结构的智能循迹小车设计  

Design of Intelligent Car for Tracking Trajectory Based on Subsumption Architecture

作　　者：胡春华[1] 庞宝兵 司飞飞[1] 

机构地区：[1]南京林业大学信息学院,江苏南京210037

出　　处：《山西电子技术》2014年第1期3-5,共3页Shanxi Electronic Technology

基　　金：国家自然科学基金资助项目(31300471);江苏省大学生创新实践课题

摘　　要：设计出一个基于包容式结构的智能循迹小车,该小车采用单片机AT89S51作为控制器。该系统主要有避障行为模块、轨线跟踪行为模块、远程控制行为以及紧急停车模块。采用红外传感器设计检测轨线模块,超声波传感器设计避障模块。对于避障行为模块,提出采用模糊控制算法进行避障。经大量实验验证该小车不仅能稳定跟踪轨线,而且能绕障碍物行走。A smart car of tracking trajectory is designed based on subsumption architecture of behavior control in the paper, and the AT89S51 is used as controller. The system includes obstacle avoidance behavior module, trajectory tracking behavior module, re- mote control behavior and emergency stop module. Infrared sensor is adopted to design the trajectory tracking behavior module. Ultrasonic sensor is employed to design the obstacle avoidance module and the fuzzy controller is designed to avoid the obstacle. A large number of experiments are carried out. The results demonstrate that the car can not only stably track rail lines, and can walk around obstacles.

关 键 词：轨迹跟踪 行为控制 避障 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]