使用超音波感測之自走車避障實務設計

Obstacle Avoiding Design for Autonomous Mobile Vehicle Using Ultrasonic Sensors

楊雅兆(Ya-Jau Yang)

指導教授 ： 許政行 ； 賴玲瑩

中原大學/工學院/機械工程研究所/碩士(2004年)

https://doi.org/10.6840/cycu200400334

摘要

本論文是使用超音波感測之自走車避障實務設計，自走車的控制器是使用單晶片(89c51)，車上硬體包括感測避障部分與驅動部分。感測避障部分是以超音波感測器為主要感測元件，架設在自走車左右的前端；驅動部分是以直流馬達作為自走車的動力來源。其速度控制是以脈寬調變技術(PWM)來達成。自走車避障控制是由前方的超音波感測器，來偵測障礙物的存在，並將訊號傳回控制器中，由程式來判斷避障路徑，直到目前的障礙物完全避開為止。再進行路徑修正回到原來路徑上。所有的控制動作都由單晶片上的程式直接計算處理，包括PWM、避障方向控制、路徑修正。而經過實際的測試與實驗，可以確定自走車在未知的環境中可以自行避開障礙物，並經由修正路徑回到原來路徑上，到達終點。

關鍵字

避障 ； 超音波 ； 自走式機器人

並列摘要

The study is about the design of obstacle-avoiding for an autonormous mobile vehicle (AMV) using ultrasonic sensors. The AMV uses 89c51 IC as its control center, and its hardware includes the sensing obstacle-avoiding part and the driving part. The sensing obstacle-avoiding part is assembled by two ultrasonic sensors. One is in the right-front of the AMV, and the other in the left-front. The driving part is assembled by four DC motors for the power source of the AMV. Their speed control is done through the pulse width modulation (PWM). As for the obstacle-avoiding part, the ultrasonic sensors in the front side of the AMV detect where there is any obstacle and deliver the signals to the controller. The controller commands the driving part to follow the path. The controller continues to plan the new obstacle -avoiding path until the sensors detect no more obstacle. Then the controller modifies the path of the AMV back to its original one. All of the above movements, including PWM, obstacle-avoiding and path modifying, are directly handled by the program in the chip. After some real tests and experiments, it is sure that the AMV can avoid obstacles by itself in unknown environments, and through path modifying it will goes back to the original path until reaching the goal.

並列關鍵字

obstacle avoiding ； ultrasonic sensor ； autonomous mobile vehicle

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