基于模糊控制算法的智能小车避障系统设计  

Design of Intelligent Car Obstacle Avoidance System based on Fuzzy Control Algorithm

作　　者：申永红 Shen Yonghong(Shaanxi Institute of Technology(Xi'an,Shaanxi,710302,China))

机构地区：[1]陕西国防工业职业技术学院,陕西西安710302

出　　处：《小型内燃机与车辆技术》2018年第6期33-37,共5页Small Internal Combustion Engine and Vehicle Technique

摘　　要：针对当前智能小车避障可看成是一个非线性运行的过程,在具体建模上不能精确表达,提出一种基于模糊控制的小车避障系统。首先结合STM32芯片,将STM32系列芯片作为主控芯片,然后通过超声波测距传感器对左、右、前三方距离的采集,输入到主控芯片中,同时结合模糊控制的特点,以上述的3个信息作为输入,以小车转向作为输出,并构建模糊控制规则表,从而建立模糊控制规则;最后通过仿真和现场测试的方式,验证小车可规避多个障碍物,表明研究的可行性。In view of the current intelligent car obstacle avoidance can be regarded as a nonlinear process,it can not be accurately expressed in the specific modeling,and a kind of vehicle obstacle avoidance system based on fuzzy control is proposed.First of all,the STM32 chip is combined with the STM32 series chip as the main control chip.Then the distances of the left,right and front are collected by the ultrasonic distance measuring sensor and input into the main control chip.At the same time,combined with the characteristics of the fuzzy control,the three pieces of information are used as the input,the car steering is taken as the output,and the fuzzy control is constructed.The rule table is used to establish fuzzy control rules.Finally,through simulation and field test,it is proved that the car can avoid many obstacles and show the feasibility of this study.

关 键 词：模糊控制 超声波传感器 STM32系列 障碍物躲避算法 

分 类 号：U463.6[机械工程—车辆工程]