低碳越障小车控制系统设计  

Design of the Control System for Low-Carbon Obstacle Avoidance Car

作　　者：孙亚星 朱佳佳 孟畅 张志强 SUN Yaxing;ZHU Jiajia;MENG Chang;ZHANG Zhiqiang(Engineering Training Center,Nanjing University of Science and Technology,Nanjing 210094,China;School of Mechanical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China;School of Electronic and Optical Engineering,Nanjing University of Science and Technology,Nanjing 210094,China)

机构地区：[1]南京理工大学工程训练中心,江苏南京210094 [2]南京理工大学机械工程学院,江苏南京210094 [3]南京理工大学电子工程与光电技术学院,江苏南京210094

出　　处：《自动化仪表》2018年第9期83-86,共4页Process Automation Instrumentation

摘　　要：低碳越障小车作为一种简单的低能耗轮式机器人,受到人们的广泛关注。为实现低碳越障小车避障和上下坡功能,设计了一套以ATmega1284P为核心的控制系统。该系统采用两个LM7805模块作为稳压模块,采用激光测距传感器GY-530和姿态传感器MPU-6050模块来感知小车在跑道中的位置信息,采用舵机MG90s作为执行机构来实现转向和刹车功能。针对直线道、半圆道和直线道上下坡等路况,以沿边PID直行模块为基础,使用状态机编程思想来设计控制程序,以有效规避障碍墙随机摆放的问题。在实际跑道上的测试结果表明,该控制系统能够在不同路况下,稳定、可靠地实现避障和上下坡功能。该控制系统不仅具有结构简单、成本低廉、调试方便和适应性强的特点,而且具有很强的实用价值和推广意义。The low-carbon obstacle avoidance car,as a simple wheeled robot with low energy consumption,has wide attentions. In order to achieve the functions of obstacle avoidance,uphill and downhill,a control system with ATmega1284 P as the core for the low-carbon obstacle avoidance car is designed. In the system,two LM7805 modules adopted as the voltage stabilizing modules,the position information of the car on the runway is perceived by the laser-ranging sensor GY-530 and the attitude sensor MPU-6050 module,and the steering gear MG90 s is used as the actuator to realize steering and braking functions. For the different conditions of runway： straight line,semi-circular line,uphill and downhill,based on PID side driving straight model and by using statemachine programming mind,the control program is designed,the problem of random placement of the barrier walls can be avoided. The test results on the actual road show that the control system can achieve the obstacle avoidance,up-hill and downhill functions steadily and reliably under different road conditions. The control system is simple in structure,low in cost,easy to debug and adaptable,and has strong practical value and promotion significance.

关 键 词：低碳越障小车 控制系统 ATMEGA 信息感知 状态机 

分 类 号：TH-39[机械工程] TP273[自动化与计算机技术—检测技术与自动化装置]