I摘要自循跡避障小車是行走機(jī)器人的一種，這種小車可以適應(yīng)不同環(huán)境，不受溫度、濕度、磁場(chǎng)輻射、重力等條件的影響，在人類無(wú)法進(jìn)入或生存的環(huán)境中完成人類無(wú)法完成的探測(cè)任務(wù)，適用于國(guó)防及民用等多個(gè)領(lǐng)域。本設(shè)計(jì)的主要任務(wù)是設(shè)計(jì)和實(shí)現(xiàn)基于 ATMega128 單片機(jī)的尋跡避障小車，包括硬件和軟件兩個(gè)部分。硬件電路部分主要包括控制器、循跡電路、避障電路、電機(jī)驅(qū)動(dòng)電路、顯示電路、電源電路等。自循跡避障小車的軟件平臺(tái)為 ICCAVR 開發(fā)環(huán)境。軟件系統(tǒng)包含系統(tǒng)初始化程序、紅外傳感器循跡程序、超聲波避障程序與顯示程序等。車前部安裝的紅外傳感器負(fù)責(zé)釆集道路信號(hào)，作為小車的循跡依據(jù)；超聲波傳感器負(fù)責(zé)測(cè)量障礙物和小車之間的距離，作為避障依據(jù)。微控制器讀取傳感器當(dāng)前狀態(tài)，從而控制相應(yīng)的電路，進(jìn)而控制小車行進(jìn)的速度和角度，最后實(shí)現(xiàn)小車在實(shí)驗(yàn)環(huán)境中自動(dòng)循跡避障行駛的功能。在本設(shè)計(jì)中，系統(tǒng)硬件和軟件都采用了模塊化結(jié)構(gòu)，整個(gè)系統(tǒng)的電路結(jié)構(gòu)簡(jiǎn)單，可靠性高，并可按需求增加或刪除功能。在實(shí)際的調(diào)試過(guò)程中，小車能自適應(yīng)直道、彎道、交叉線等路況，并且能夠避開跑道上的障礙物。關(guān)鍵詞：ATMega128；循跡；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目錄0 前言 1 1 方案設(shè)計(jì)與論證 21.1 整體硬件方案論證 21.2 整體軟件控制方案 32 系統(tǒng)硬件設(shè)計(jì) 42.1 單片機(jī)最小系統(tǒng) 42.2 電源模塊 82.3 循跡模塊 92.4 超聲波避障模塊 202.5 步進(jìn)電機(jī)模塊 232.6 液晶顯示模塊 242.7 DS1302 時(shí)鐘模塊253 系統(tǒng)軟件設(shè)計(jì) 273.1 AVR 單片機(jī) C 語(yǔ)言設(shè)計(jì) 273.2 ICCAVR 編程器軟件 273.3 系統(tǒng)程序流程圖 314 系統(tǒng)總體調(diào)試 324.1 硬件調(diào)試 324.2 軟件