基于测距超声波传感器的间距平衡避障策略Spacing equilibrium obstacle avoidance strategy based on range-finding ultrasonic sensor
邢强,虞凯西,谷玉之
摘要(Abstract)：
为实现智能车在狭长通道内的避障,提出基于距离的间距平衡避障策略:控制小车沿两障碍物间距的中点方向前进,沿中间平衡通过。小车以STC12C5A60S2为主控单元,将两超声波测距传感器对称、垂直分布在车头前进方向;根据检测距离,单片机PCA模块产生PWM波控制舵机转向,实现无碳小车避障。该方法模仿生物视觉避障,建立基于距离参数构建间距平衡策略,实现在狭长通道下的单片机控制的实时避障,具有运算量小、运动灵敏、运行稳定等特点。实验表明,间距平衡避障策略,方法简单,并能有效实施实时避障。
关键词(KeyWords)： 间距平衡;避障策略;超声波测距传感器;生物视觉;无碳小车;STC12C5A60S2
基金项目(Foundation): 江苏省自然科学基金(青年基金)项目(BK20150407);; 江苏省高校自然科学基金面上项目(15KJB410001);; 南通市应用基础研究工业创新项目(GY12016007)~~
作者(Author): 邢强,虞凯西,谷玉之
DOI: 10.16652/j.issn.1004-373x.2018.20.023
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