The Design Of The Ultrasonic Self-Determined Road Exploring Car

The ultrasonic self-determined route exploring car in this design is an autonomous navigated wheeled mobile robot in nature. The system gets the environmental information from the ultrasonic distance measuring system, and decides the actions of the route exploring car by analyzing the environmental information.The distance measuring system of the route exploring car uses a step motor to drive the ultrasonic sensor scanning in sector. By the driving of the step motor, the ultrasonic sensor turns in immovable angle. The distance measuring system would get the distances of the barriers in each angle the ultrasonic sensor turns to. So, the system would get the position information of the barrier including both the distance and the direction. The system could make exact judgment about the driving environment according to the continuous information of all the barriers, and then the system could make right decisions to direct every step of the driving.Swerve is the most important moving form of the wheeled mobile robot. By calculating the radiuses that the car swerves accurately, the system improves its ability of swerving and the driving efficiency.All the parameters of the route exploring car system are dynamic decided. All the parameters relate with each other, and it makes the system more effective.The decision-making of actions is the most important part. Several driving mode is designed in the system, especially the inspection driving mode that can work without predicting the route. The driving mode is used in different conditions to make decisions and direct actions.