基于测距超声波传感器的间距平衡避障策略  

Spacing equilibrium obstacle avoidance strategy based on range-finding ultrasonic sensor

作　　者：邢强 虞凯西 谷玉之 XING Qiang;YU Kaixi;GU Yuzhi(School of Mechanical Engineering,Nantong University,Nantong 226019,China)

机构地区：[1]南通大学机械工程学院,江苏南通226019

出　　处：《现代电子技术》2018年第20期97-99,103,共4页Modern Electronics Technique

基　　金：江苏省自然科学基金(青年基金)项目(BK20150407);江苏省高校自然科学基金面上项目(15KJB410001);南通市应用基础研究工业创新项目(GY12016007)~~

摘　　要：为实现智能车在狭长通道内的避障,提出基于距离的间距平衡避障策略:控制小车沿两障碍物间距的中点方向前进,沿中间平衡通过。小车以STC12C5A60S2为主控单元,将两超声波测距传感器对称、垂直分布在车头前进方向;根据检测距离,单片机PCA模块产生PWM波控制舵机转向,实现无碳小车避障。该方法模仿生物视觉避障,建立基于距离参数构建间距平衡策略,实现在狭长通道下的单片机控制的实时避障,具有运算量小、运动灵敏、运行稳定等特点。实验表明,间距平衡避障策略,方法简单,并能有效实施实时避障。A distance-based spacing equilibrium obstacle avoidance strategy is proposed to realize obstacle avoidance of the intelligent vehicle running in the long narrow lane.The controlled vehicle moves ahead along the midpoint of the spacing between two obstacles,and passes in equilibrium.STC12C5A60S2 is taken as the main control unit of the vehicle,and two range-finding ultrasonic sensors are symmetrically and vertically installed on the head of the vehicle at the forward motion direction.The PCA module of the SCM generates PWM waves to control the rotation direction of the steering mechanism according to the detection distance,and realize obstacle avoidance for the carbon-free vehicle.In this method,biological vision is simulated for obstacle avoidance to establish the spacing equilibrium strategy based on distance parameters,so as to realize realtime SCM controlled obstacle avoidance in the long narrow lane.The method has characteristics of small computation quantity,flexible motion and stable operation.The experimental results show that the spacing equilibrium obstacle avoidance strategy is simple,and can effectively implement realtime obstacle avoidance.

关 键 词：间距平衡 避障策略 超声波测距传感器 生物视觉 无碳小车 STC12C5A60S2 

分 类 号：TN752.6-34[电子电信—电路与系统]