2013 届分类号: TP242 单位代码: 10452 毕业论文(设计) 超声波测距在机器人避障中的应用姓名刘涛涛学号 200909140401 年级 2009 专业电气工程及其自动化系(院) 汽车学院指导教师王红梅年月日临沂大学 2013 届本科毕业设计说明书 I 摘要移动机器人在工作的时候不可避免地受到障碍物的干扰,障碍物会严重影响机器人的工作效率,碰撞时更会使机器人损坏,所以实现机器人的自动避障非常重要。本论文提出了基于超声波传感器测距的移动机器人的模糊避障系统, 采用单片机 AT89C51 为核心,用超声波测距的方法检测障碍物,通过单片机对信号的处理,驱动电机的转向,左右前进与后退,从而达到自动避障的功能。通过实践得出模糊避障控制机理和策略易于接受和理解,便于应用开发,模糊避障算法对环境有很大的适应性,机器人能在不同的环境条件下实现了避障。关键词: AT89C51 单片机、移动机器人、超声波传感器临沂大学 2013 届本科毕业设计说明书 II Abstract Mobile robot to work when I inevitably subject to interference from obstructions, obstructions will seriously affect the efficiency of the robot, collision damage and even make robots, robot automatic obstacle avoidance is very important. This paper presents a fuzzy obstacle avoidance system based on ultrasonic sensors ranging mobile robot using AT89C5 1 microcontroller as the core, the obstacle detection method using ultrasonic ranging, single-chip signal processing, drive motor steering, left and right, forward and backward , so as to achieve the automatic obstacle avoidance function. Through practice on fuzzy obstacle avoidance control mechanism and strategy is easy to accept and understand, easy application development, fuzzy obstacle avoidance algorithm has great adaptability to the environment, the robot obstacle avoidance in different environmental conditions . Keywords: AT89C5 1 microcontroller ; bile robot ; Ultrasonic sensors 临沂大学 2013 届本科毕业设计说明书 III 目录绪论........................................................................................................................................... 1 1课题设计目的及意义.......................................................................................................... 1 设计的目的................................................................................................................... 1 设计的意义................................................................................................................... 1 2超声波测距仪的设计思路....................................................
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