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基于模糊控制原理的自动避障研究
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2009-08-15
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此文依靠模糊控制理论对基于80CS51 单片机的自动避障机器人进行研究，单片机依靠对超声回波所测得距离数据的处理通过PWM 电路控制电动机，可显示前方障碍距车距离，三轮架构，其中两轮各以直流电动机为驱动，借助其速度之差控制转弯半径，待靠近障碍物到临界点即预设距离时转弯,实现了自动躲避障碍功能。
关键词：避障；80CS51；机器人
Abstract: Designed a mobile avoiding obstacle robot dependent on fuzzy control theory and based on Micro-controller 80CS51 and Ultrasonic. It can measure the distance between the robot and the obstacle with supersonic , then analyze the measuring data in order to control the direct current motor trough PWM electronic circuit , having the function of displaying the measuring distance . It belongs to the structure of 3 rounds, and the two of them is driven by 2 direct current motors. With this structure, its radius of the turn can be controlled by the
difference in the speed of the 2 rounds, while the distance approaches the default value, it turns.
Key words: avoiding obstacle; 80CS51; robot
关键词：避障；80CS51；机器人
Abstract: Designed a mobile avoiding obstacle robot dependent on fuzzy control theory and based on Micro-controller 80CS51 and Ultrasonic. It can measure the distance between the robot and the obstacle with supersonic , then analyze the measuring data in order to control the direct current motor trough PWM electronic circuit , having the function of displaying the measuring distance . It belongs to the structure of 3 rounds, and the two of them is driven by 2 direct current motors. With this structure, its radius of the turn can be controlled by the
difference in the speed of the 2 rounds, while the distance approaches the default value, it turns.
Key words: avoiding obstacle; 80CS51; robot
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