机器人在军事侦察、扫雷排险、防核化污染等危险与恶劣环境中以及工业自动化生产的物料搬运上应用很广,随着任务复杂性的增加,时移动机器人的要求也越来越智能化.然而,功能较完备的路径跟踪控制方法普遍具有计算复杂,不易实现等特点.主要针对移动机器人即智能小车的行走系统进行设计,以MCS-51单片机为控制核心的智能小车利用单光束反射取样红外传感器,探测正前方及左右两侧障碍物,利用控制算法寻找行进路线,在无人控制的情况下自主地走出迷宫.设计采用了轮式移动机构,使机器人能直线行走、左右转弯、主要针对路径跟踪算法优化问题,提出一种有效可行的方法,该法比以往算法更简单易行.%The robot is widely used in the military reconnaissance, mine clearance, anti-nuclear and chemical pollution as well as the marerial transport in the indusirial automatic production and so on. With the increase of duty complexity, the requirements on robot are more and more intelligent. However, the path tracking control method has shortages such as complex computation, difficult to achieve and other characteristics. The mobile robot (travel system of smart car) was designed, which took the MCS-51 as control core, used single-beam reflectance sampling infrared sensors to detect the surrounding obstacles,adopted control algorithm to find the road line, in the absence of independent control of the situation and out of the maze. This design used a wheeled mobile so that robot could walk a straight line and turned around. A feasible and effective method is proposed for solving the optimization problem of the path tracking algorithm, this method is simple and practical.
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