Research On Obstacle Avoidance System For Armoured Vehicle Based On "fly's Eye" Sensor Network

As a heavy infantry weapon, armoured vehicle has a long and wide body. Armoured vehicle has a big visual spot blind compared to automobile. In this paper, reseach on obstacle avoidance based on "fly's eye" sensor network for armoured Vehicle. The obstacle avoidance system has a 360°around the armoured vehicle, and displays the direction and distance in real-time. The active ability of obstacle avoidance in formation marching, car backing and reservoir inflow, as well as tactics maneuver are improved.The"fly's eye"structure and sensing principle were analyzed, and"fly's eye"sensor network was applied to obstacle avoidance system for armoured vehicles. Theory of Simultaneous localization and mapping was described, and the coherence discriminant of measurement data of adjacent obstacle was achieved. Generation model of avoidance grid map was built for one of armoured vehicles, computer simulation was carried out in MATLAB, and simulation results had demonstrated the validity of the model.Based on 8-bit embedded microcontroller, the circuit of ultrasonic transmitter and receiver were designed circuitry modules, LCD display alarm circuits and CAN communication node circuit, and circuit simulation had been carried out in Multisim ,which obtained ideal simulation results; Overall circuit schematic design and PCB board production of two hardware module's had been .completed Software design of ranging module and control module was accomplished based on the assembly language platforms of CodeWarrior IDE. The program structure of ranging module was optimized, the work timing of the timers wsa reasonably designed, which achieved the precise control of the process of the task, rational design of a timer timing the work to achieve the right procedures, so that it could improved process efficiency through saving the limited CPU resources.In this paper, testing and debugging of the hardware and software of the ultrasonic transmitter and receiver circuit units were accomplished, and ranging experiments and experimental error analysis were carried out. The"fly's eye"sensor network was installed in a real armoured vehicle and the integrated experiment of the system was accomplished. The experimental resulted that obstacle avoidance system for the armoured vehicle based on"fly's eye"sensor network achieved 360°full range in a certain extent and it met the desired requirements of design. so that it could improve active safety features of armored vehicles.