为了提高智能小车自主导航的能力,需要解决智能小车在复杂环境中的自主避障问题.为了实现自主避障,提出了超声波避障的设计方案和处理算法.智能小车采用四轮驱动以提高驱动能力,通过不同宽度的脉冲控制舵机实现不同方向、不同角度的转向,从而带动超声波模块实现不同方向障碍物距离的检测.针对智能小车电机运转易引入干扰造成系统供电电压不稳的问题,提出了电机驱动模块和系统控制电路分开供电的解决方案.重点针对当障碍物超出超声波检测范围时小车软件程序易陷入"死区",以及在多个方向同时遇到障碍物时小车避障易发生刮擦等问题,提出了定时器溢出中断算法和后退转弯算法等解决方案.试验证明:该算法的小车避障效果较好,具有一定的推广、使用价值.%In order to improve the autonomous navigation ability of smart car (wheeled mobile robot),it is necessary to solve the self-obstacle avoidance problems in the complex environment.To realize autonomous obstacle avoidance,the design scheme and processing algorithm of ultrasonic obstacle avoidance are proposed.The smart car is designed with four-wheel drive to improve the driving ability,and to control steering gear through the pulses of different width,to achieve the steering in different directions and angles,so as to make the ultrasonic module to achieve the distance detection of different directions.Aiming at the instability of the voltage of power supply caused by the running motors,it is proposed that the motor drive module and the system control circuitry are separately powered.When the obstacle is out of the ultrasonic detection range,the software program is easy to fall into the "dead zone",and the collision probably occurs when the obstacle is encountered in multiple directions,the car may be scratched,aiming at these problems,the solutions of timer overflow interrupt algorithm and backward cornering algorithm are provided.The tests prove that the smart car using such algorithms can avoid obstacles very well and it has a certain value to be used and promoted.
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