走迷宫智能小车的研究与实现

摘要摘要走迷宫智能小车主要是基于自主反应式智能系统原理。利用反射式红外传感器来导引，采用与地面颜色有较大差别的导引线，红外一体化接收头来检测障碍物的位置，通过改变单片机产生的PWM方波的占空比，使其能在设计范围内可实现任意角度移动，实现小车识别路线，进行自主迷宫探路，判断并实现自动避障，选择正确的行进路线。驱动电机采用直流电机，电机控制方式为单向PWM开环控制。控制核心采用MSP430单片机，仅用一块单片机就实现了信号采集，路线判断，电机控制。该技术可以应用于无人工厂，仓库，服务机器人等领域。总体规划对于走迷宫小车控制系统设计主要有三个方面：一、控制电路设计；二、传感器选择以及安放位置设计；三、程序设计。从总的方面来考虑，传感器的使用数量应该尽量少以减少单片机的信号处理量，但是又必须能使小车行驶自如。控制电路要根据选用的电机和传感器来设计，主要考虑稳定性，抗干扰性。关键词：MSP430迷宫算法避障寻迹PWMAbstractAmaze-runningintelligentcarismainlybasedontheprincipleofautomaticresponseintelligentsystem.Itusesreflectiveinfraredsensortoguideandthepilotwiresarevarydifferentfromthegroundincolor.ItusesinfraredreceivertodetectthepositionoftheobstacleandisbychangeofPWMsquare-waveproducedbyMCUtorealizearbitraryanglemovingamongthedesignedrangeandindentifyingtheroute.Itcantouchesmazeautomatically,judgeandavoidtheobstacleautomatically,andchoosetherightmarchingroute.ItusesDCMotorasthedrivingmotor.ThecontrolmodeofthemotorisunidirectionalPWMopen-loopcontrol.ThiscontrolmakesMSP430MCUasitscore.ItonlyusesoneMCUtorealizethesignalcollectionandrouteestimationandmotorcontrol.ThisTechnologycanbeappliedinthefieldssuchasunmannedfactoryandwarehouseandServiceRobot.Theoverallplan:Thedesignofthecontrolsystemofmaze-runningintelligentcarmainlyincludesthreeparts:First:thedesignofthecontrolcircuit;Second:thechoosingofthesensorandthedesignofthemountposition;Third:ProgramDesign.Fromaoverallperspective,youshouldusethesensorsasfewaspossiblesoastoreducethesignalprocessingamountoftheMCUandatthesametimeyoumustmakethecarmarchfreely.Thecontrolcircuitmustbedesignedaccordingthemotorsandsensorschosen,mainlytakethestabilityandthenoiseimmunityintoaccount.Keywords:MSP430mazealgorithmobstacleavoidancePWM2寻迹避障小车走迷宫目录i目录第一章绪论......................................................................................................................................................................1第二章各部件的工作原理...............................................................................................................................................22.1前轮（导向轮）.............................................................................................................................................................22.2电机.................................................................................................................................................................................32.3反射式红外传感器.........................................................................................................................................................32.4红外一体化接收头.........................................................................................................................................................4第三章硬件电路...............................................................................................................................................................63.1电机驱动电路.................................................................................................................................................................63.2反射式红外传感器电路.................................................................................................................................................73.3红外一体化接收头电路.................................................................................................................................................83.4处理器电路......................................................................................................................................................................8第四章电路原理图.........................................................................................................................................................10第五章控制算法.............................................................................................................................................................115.1黑线位置判别................................................................................................................................................................115.2巡线算法........................................................................................................................................................................115.3搜线算法........................................................................................................................................................................125.4障碍物位置判别....................................................................................................................................................125.5转弯控制........................................................................................................................................................................135.6迷宫探路控制.................................................................................................................................................................13第六章相关软件...........................................................................................