基于51单片机的避障小车的实现

51,,(,210096):,,,,,,:;;:U47111;TP273+12:A:167125276(2005)0520076203TheAchievementoftheVehicleAvoidingObstaclesCircuitBasedonMicrocontroller51SUNXian2an,CHENNan,WANGJin2xiang(TheDepartmentofMechanicalEngineeringofSoutheastUniversity,JSNanjing210096,China)Abstract:Inpacewithdevelopmentoftheautomobileindustryinourcountry,theautomobilessafetyandintelligencebecomemoreandmoreimportant.Nowadays,themethodsandexperimentsofautodrivehavebeenstudiedindomes2ticandinternational.Theemergencylane2changemaneuversofvehiclesmaybehandledthroghaprocessofdisposingmessagebycomputerautomatically,asgoodasadriver.Ittakesthevehiclesasthecarriertocontrolobjectsanddealwiththemessageatrealtime.Whenemergencysituationappears,itreplacesthedrivertoavoidmanualmistakes.Thetextintroducesacaseofamodelcaravoidingtheobstacleitself.Themodelcanperceivetheinformationofthefrontroadbythewavesoastocruiseandevadetheobstacle.Keywords:emergencylane2changemaneuvers;driveautomatically;theobstacleavoidancecircuit0,,,,,,,,;,;;1,:340m/s,t,s=340t/2,,,,,,PWM,::,[e-mail]©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.[1],,,;,,,L293B;,L298N,,1A,L298N,,,PWMTLC7226/,555,L293BL298NL293B,L298N,TLC7226LM555:,51MachineBuilding&Automation,Oct2005,34(5):767877©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.:3,,,,a):,,;b);c),,4,,,:[1]ZviShiller.Emergencylane2changemaneuversofautonomousve2hicles[J].ASMEJournalofDynamicsSystems,Measurement,andControl.[2].Protel99se[M].:,20011[3],,.[J].,2004,19(6)1[4],,.[J].,1994,8(1).:2005209208(75)5,,54a),;b),,,ZVSZCS;c):[1]YamatoI,etal1NewconversionsystemforUPSusinghighfre2quencylink[J]1IEEEPESC,1988:65826631[2]YamatoI,etal1HighfrequencylinkDC/ACconverterforUPSwithanewvoltageclamper[J]1IEEEPESC,1990:74927561:2005208220,[e-mail]©1994-2006ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.