循迹避障小车毕业设计

I摘要自循迹避障小车是行走机器人的一种，这种小车可以适应不同环境，不受温度、湿度、磁场辐射、重力等条件的影响，在人类无法进入或生存的环境中完成人类无法完成的探测任务，适用于国防及民用等多个领域。本设计的主要任务是设计和实现基于 ATMega128 单片机的寻迹避障小车，包括硬件和软件两个部分。硬件电路部分主要包括控制器、循迹电路、避障电路、电机驱动电路、显示电路、电源电路等。自循迹避障小车的软件平台为 ICCAVR 开发环境。软件系统包含系统初始化程序、红外传感器循迹程序、超声波避障程序与显示程序等。车前部安装的红外传感器负责釆集道路信号，作为小车的循迹依据；超声波传感器负责测量障碍物和小车之间的距离，作为避障依据。微控制器读取传感器当前状态，从而控制相应的电路，进而控制小车行进的速度和角度，最后实现小车在实验环境中自动循迹避障行驶的功能。在本设计中，系统硬件和软件都采用了模块化结构，整个系统的电路结构简单，可靠性高，并可按需求增加或删除功能。在实际的调试过程中，小车能自适应直道、弯道、交叉线等路况，并且能够避开跑道上的障碍物。关键词：ATMega128；循迹；避障；ICCAVRIIAbstractSelf-tracing and obstacle avoidance electric vehicle is a kind of mobile robot, which is able to adapt various environments, humidity, magnetic radiation and gravity. Consequently the vehicle take the place of human to implement many tasks in the environment where human cannot set foot, which is applicable in many fields in the national defence and civilian.The main job of this project is to design and implement based on ATMega128 single-chip microcomputer self-tracing and obstacle avoidance car, including its hardware and software in two parts. The hardware circuit part mainly comprises a controller, a signal detection circuit, obstacle avoidance circuit, motor drive circuit, display circuit and power supply circuit. the software platform is ICCAVR. The software include initialization program, self-tracing program, obstacle avoidance program and display program. The road information is acquired for navigation by red sensor in the front of the vehicle. The red sensor recognizes the black line. The ultrasonic transducer recognizes the barriers. The micro controller acquires current state to control corresponding circuit and then the vehicles speed and angle. In this way the self-tracing driving function is realized in the experimental environment.The hardware and software of this project are all the modular it has. The circuit is simple in structure and the function can be added or deleted according to requirement. In the experiment, the vehicle can autonomously adapt straight road, corners and crosses line. The target of the self-tracing and obstacle avoidance vehicle are met.Key words: ATMega128; infrared sensor; obstacle avoidance; ICCAVRIV目录0 前言 1 1 方案设计与论证 21.1 整体硬件方案论证 21.2 整体软件控制方案 32 系统硬件设计 42.1 单片机最小系统 42.2 电源模块 82.3 循迹模块 92.4 超声波避障模块 202.5 步进电机模块 232.6 液晶显示模块 242.7 DS1302 时钟模块253 系统软件设计 273.1 AVR 单片机 C 语言设计 273.2 ICCAVR 编程器软件 273.3 系统程序流程图 314 系统总体调试 324.1 硬件调试 324.2 软件