基于激光传感器的自主循迹智能车设计

Design of intelligent vehical with independent tracking ability based on laser sensor

在智能机器人路径识别传感器中,激光传感器由于其精度高、实时性强的优点被广泛使用。针对需要识别黑白路径的智能车,设计一组共18个激光传感器组,并在传感器布局和路径识别算法中将激光头分成3组形成分时复用,通过寄存器赋值用以区分黑线的不同位置。而后根据寄存器的值,分别调试出舵机的期望脉冲值和当前脉冲值,通过二者作差从而获得方向控制的偏差值,并对偏差采取PD控制。实际调试表明,所提传感器布局、路径识别和处理方法可以有效识别道路信息,并使得智能车方向控制精确平稳。

in the sensors used for path recognition in intelligent robot, the laser sensor is widely used because of its high precision and strong real-time. In this paper, for the intelligent vehicle which needs to recognize the black and white path, a set of 18 laser sensors were designed. And in sensor placement and path identification, these laser sensors were divided into 3 teams for time sharing multiplexing, and different values were assigned for different black wire positions. Then for different values, the desired pulse values for steering engine and current pulse values were debugged. With the difference of these two pulse values, the error was obtained. Thus PD control was adopted. Finally, it was shown by practical debugging that this layout of sensors, path identification and processing method can effectively identify the road information, and make the direction control accurate and smooth.