Research On Obstacle Avoidance For The Automatic Guided Vehicle Based On Multi-sensor

To realize the autonomous obstacle avoidance of the Automatic Guided Vehicle(AGV), a series of methods are presented in this paper, which include circumstance detection around the Automatic Guided Vehicle by ultrasonic sensors, obstacle input data process through computer techniques and pattern recognition of obstacles with a fuzzy-neuro control algorithm.Aiming at the safety problem of the Automatic Guided Vehicle driving, this thesis studies a real-time short-distance obstacles detecting system, to realize the real-time distance measurement of the obstacles all around of the Automatic Guided Vehicle and feedbacks the information to the users in real time. It mainly involves the following works:The system hardware is made up of ultrasonic sensors, computer and other junctions. The ultrasonic sensor would be used to detect the environment and the computer is the data collection and control station in the system. The computer was be used to control the 4 couples ultrasonic detect distance sensor, deal with the data, send controlling signals and drive executive mechanism. The system will differentiate obstacle intellective and make the Automatic Guided Vehicle avoid colliding automatic.The system software includes data collection module and data processing module. The data collection module is used to control sending ultrasonic signal, the opening and closing of I/O passageways. The data processing module is used to calculate the distance of obstacle, differentiate obstacle orientation and chose controlling order. The software was compiled with VC++, which is a special compile language.Through the analog and test of part function, the ultrasonic detect distance system designed by us has detected the obstacles in the range of design's require. The differentiate obstacle system would ensure the Automatic Guided Vehicle running safely and achieve the design requirement basically.Besides,The system of a voice_controled car is described and designed in this paper. We take SPCE061A as the core control portion in this design, and direct-current speed reduction electric motor LS17RU419i, driving chip L298N of electrical motor, Photoelectric transducer of infrared ray TCRT5000, Reflecting infrared sensor ST178 are considered as the main control modules. The intellectual control technology is a theoretical foundation, and the feasibility of the project is given in the thesis. This system fastens the merit having graspedμ'nSP? microcomputer. Around that, design and work out the software system of this voice_controled car, and have fully utilized the pronunciation module of SPCE061A . Thatμ'nSP? microcomputer programming, pronunciation, interruption as well as the multi- purpose's input and outlet is fully utilized on the scheme, and be easy to operate, be easy to revise. The design has reached expected purpose after the debugging.