基于at89s52单片机的智能循迹设计论文正文外文资料

基于at89s52单片机的智能循迹设计论文正文外文资料内容摘要：

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Using infrared phototubes module implements tracing and resolutely obstacleavoidance function, use infrared light encounters with the launch of black trajectory is absorbed output and the module after the principle of value instead level, through the phototubes module testing road information, each corner of the corresponding with the car, and through the photoelectric infrared tube detection module to the road information feedback in singlechip microputer, AT89S52 SCM control car motor to control chip speed and steering, so as to realize the automatic follow the function of tracing obstacle avoidance. One car motor driven by L298N driving circuit is plete, speed by singlechip microputer control PWM wave output. This design has achieved ultrasonic module, the current square obstacleavoidance range distance value, SCM control car brake, steering gear after about 45 176。 swing ultrasonic module once, parison on both sides of the car from obstacles around distance, the choice is open, and the direction of the obstacles to walk. Keywords: obstacle avoidance tracking AT89S52 Ultrasonic infrared photocell 21 附录 附录一、小车外观 实物视频地址： 51 循迹 避障 小车 视频 优酷视频 在线观看 22 附录二、外文资料 2020 IEEE International Conference on Robotics and Automation, Seoul, Korea, May 2126, pp. pp. 28792884. USING CODED SIGNALS TO BENEFIT FROM ULTRASONIC SENSOR CROSSTALK IN MOBILE ROBOT OBSTACLE AVOIDANCE Shraga Shoval1 and Johann Borenstein2 and 1 Department of Industrial Engineering and Management, Academic College of Jamp。 S – Ariel, Israel. 2 Mobile Robotics Laboratory, Dept. of Mechanical Engineering, University of Michigan, Ann Arbor, MI 48109, USA Abstract Crosstalk is a mon problem occurring with arrays of multiple ultrasonic sensors (sonars) in obstacle detection and avoidance systems. This paper presents a novel method that might allow the use of data generated by crosstalk to generate more reliable and accurate object detection. This is acplished by assigning a uniquecode to the signals emitted by each sonar, so that the source sonar can be identified even if its signal’s echo is received by another sonar. Using geometric interpolation between the various sonars increases the accuracy of the measurements, overing their limited resolution. Experimental results show the potential of our system for mobile robotics obstacle detection and avoidance, as well as for localization using mapmatching techniques. Key Words: Ultrasonic sensors crosstalk coded signals positioning 23 1. Introduction Ultrasonic sensors (sonars) are widely used for obstacle avoidance with mobile robots. The most mon sonar sensor is the Polaroid 6500 Series Sonar Ranging Module together with the 600 Series Instrument Grade Electrostatic Transducer [Polaroid] (referred to as the “Polaroid sonar” in the remainder of this paper). The Polaroid sonar has a conical propagation profile (called a “lobe”) with a beam angle of about 12176。 15176。 . In order to provide a vehicle with a seamless panoramic “view” of the environment, Polaroid sonars are typically installed on the vehicle’s periphery at 15degree intervals. For a 360degree panorama, 24 sensors are required [Moravec 1988]. One problem with multiple sonars operating in close proximity is a phenomenon known as crosstalk, where one sonar receives the echo of a signal emitted by adjacent sonars. The receiving sonar has no way of knowing that the echo was not created by its own signal, resulting in inaccurate timeofflight measurement. Crosstalk occurs in almost all multiple sonar systems, especially in the vicinity of smooth surfaces. Moreover, if the firing sequence of the sonars is constant, then the same crosstalk error may occur repeatedly, until the geometry of the reflecting surfaces relative to the robot has changed sufficiently. Several approaches have been developed to correct e rrors caused by crosstalk. Borenstein and Koren [1995] introduced the Error Eliminating Ultrasonic Firing (EERUF) method, in which the sonars’ firing sequence is deliberately alternated. This way, if sonar A receives a crosstalk signal from sonar B as a result of one firing sequence, sonar A will not receive the same crosstalk reading from sonar B in the next sequence. Thus, if one pares any two consecutive readings of the same sonar and accepts only those readings that are nearequal to their predecessor, most erroneous readings due to crosstalk are effectively filtered out. A different approach was demonstrated by J246。 rg and Berg [1998] who modulated the frequency of the sonar signals with pseudorandom sequences, thus giving each sonar a recognizable signature. A matched filter in the receiving circuit then identified the associated source s onar. This approach, “inspired by the work of [Audenaert et. al., 1992] and [Sabatini and Spinelli 1994],” allows for simultaneous firing of se。