搜索
论文编码：TP39CapitalNormalUniversity首都师范大学本科毕业设计论文基于行为设计的移动机器人设计与实现——机器人机械设计模块DesignandImplementationofMobileRobotBasedonBehaviorDesign——RobotMechanicalSolutions论文作者：张倩颖院系：信息工程学院专业：计算机科学与技术学号：1111000055指导老师：徐敏完成日期：2015年4月25日首都师范大学本科毕业设计论文I摘要本文简要介绍了基于行为设计的移动机器人设计与实现----一种基于Arduino新型集成开发环境的超声波避障小车的工作原理。其中包括对小车的执行组件、搭建结构、传感器、Arduino单片机软件编程及试验结果的介绍。本方案以Arduino单片机为控制核心，基于蝙蝠超声波测距的原理,利用超声波传感器,检测小车前方障碍物的距离，然后把数据传送给单片机。当超声波检测到距离小车前方25CM有障碍物时单片机就发出指令让小车左转一定角度，然后停止行进继续探测.如果前方25CM没有障碍物则直行，否则继续左转一定角度。如此通过超声波不断的循环检测周边环境的情况进行自动避障。本系统在硬件设计方面，以Arduino单片机为控制核心，以超声波传感器检测前方障碍物，从而自动避障。在软件方面，利用Arduino语言进行编程，通过软件编程来控制小车运转。该系统在驱动方面采用L298N驱动2个直流电机带动小车运行。并且，用PWM系统调速,控制小车前进的速度。实现小车根据外部环境,做出前进、后退和转向等动作,从而完成避障的功能，本设计具有有一定的实用价值。关键词：Arduino单片机；超声波传感器；避障基于行为设计的移动机器人设计与实现IIABSTRACTThispaperdescribesthedesignofmobilerobotbehavior-baseddesignandimplement----Anewultrasound-basedintegrateddevelopmentenvironmentArduinoobstacleavoidancecarworks.Theseincludetheimplementationofcarcomponents,buildingstructures,sensors,Arduinomicrocontrollersoftwareprogrammingandtestresultspresentation.TheprogramtoArduinomicrocontrollercore,basedontheprincipleofultrasonicdistancemeasurementbatsusingultrasonicsensorstodetectobstaclesinfrontfromthecar,andthentransmitsthedatatothemicrocontroller.Whentheultrasonicdistanceinfrontofthecardetectsobstacles25CMSCMissuedadirectivetomakethecarturnleftonanangle,thencontinueprobingstoptraveling.Ifthereisnoobstacleinfrontofthe25CMstraight,turnleftorcontinuecertainangle.Sothecaseoftheultrasoniccontinuousloopthroughthesurroundingenvironmenttoautomaticallydetectavoidance.ThesystemhardwaredesigntoArduinomicrocontrollercore,withultrasonicsensorsdetectobstaclesinfront,sothatautomaticobstacleavoidance.Onthesoftwareside,theuseofArduinoprogramminglanguagetocontrolthecarrunningthroughsoftwareprogramming.ThesystemusesthedriversideL298NdrivetwoDCmotorsdrivethecarrunning.And,withthePWMsystemspeed,speedcontrolcarforward.Realizethecaraccordingtotheexternalenvironment,madeforward,backward,andsteeringmovements,thuscompletingtheobstacleavoidancefunction,thedesignhasacertainpracticalvalue.Keywords:Arduino;ultrasonicsensors;obstacleavoidance首都师范大学本科毕业设计论文III第一章绪论....................................................................................................................................11.1论文的选题背景...................................................................................................................11.2Arduino单片机概述.............................................................................................................21.3Arduino机器人发展现状.....................................................................................................31.4Arduino智能避障机器人研究意义和目的.........................................................................41.5项目主要研究内容...............................................................................................................5第二章避障小车机器人的总体设计............................................................................................62.1设计原理与方法...................................................................................................................62.2硬件设计...............................................................................................................................62.3软件设计...............................................................................................................................72.3.1Arduino语言..................................................................................................................72.3.2ArduinoIDE....................................................................................................................82.4实验前期准备.....................................................................................................................10第三章硬件模块..........................................................................................................................123.1各模块的的基本性能.........................................................................................................123.1.1单片机模块...................................................................................................................123.1.2电机、电机驱动模块...................................................................................................123.1.3避障模块......................................................................................................................143.1.4电源模块......................................................................................................................153.2小车的基本搭建.................................................................................................................153.3连线.....................................................................................................................................173.3.1电机的连线..................................................................................................................173.3.2舵机的连线..............................................................................