智能小车避障算法和速度调节算法研究  

Study on algorithms for obstacle avoidance and speed adjustment of intelligent vehicles

作　　者：赵旭磊 耿召里 李小华[1] ZHAO Xulei;GENG Zhaoli;LI Xiaohua(School of Electronics and Information Engineering,University of Science and Technology Liaoning,Anshan 114051,China)

机构地区：[1]辽宁科技大学电子与信息工程学院,辽宁鞍山114051

出　　处：《辽宁科技大学学报》2018年第3期212-217,共6页Journal of University of Science and Technology Liaoning

基　　金：辽宁科技大学大学生创新创业训练计划项目(201710146000333)

摘　　要：主要对智能小车的避障算法及速度调节算法进行了研究。首次提出一种无障碍权值算法解决小车的避障问题。无障碍权值算法通过对小车左右前方连续195°扇形区域的障碍距离进行采集,经过数据处理,找出障碍间的较宽可行路径,有效解决了小车避障过程中可行路径遗漏问题。该算法能使智能小车避障具有更准确的方向、更优化的路径。由于在避障时需要进行速度调节,研究了速度调节算法。通过障碍距离的检测对PWM进行比例调节,来控制小车速度,实现小车的快速变速。经过实验验证,小车速度调节也能很好地满足快速性要求。Algorithms for obstacle avoidance and speed adjustment of intelligent vehicles were studied,which,for the first time,a non-obstacle weighting algorithm was proposed to solve the obstacle-avoidance problem for vehicles.The non-obstacle weighting algorithm can find a wider passable path between the obstacles through continuously collecting and processing the data of obstacle distances in a 195°sector area in the vehicle’s left and right anterior,so that the problem of omitting passable path is solved effectively in the process of obstacle avoidance of the vehicle.The algorithm enables the intelligent vehicle to keep more accurate direction and optimized path for obstacle avoidance.Because speed regulation is needed during obstacle avoidance,algorithm for the speed regulation was also studied in this work.A proportional regulation is adopted to control the PWM through detecting obstacle distance,so that the vehicle’s speed can be controlled and changed rapidly.The experimental results show that the speed adjustment of the vehicle can meet the requirement for rapidity.Keywords:automatic

关 键 词：自动避障 无障碍权值算法 速度调节 超声波模块 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]