摘要:随着计算机和微电子技术的极速发展，智能小车应用越来越广泛，已经成为很多企业生产流水线自动化改造的方向。而循迹、避障是智能小车能够正常工作的基本要求。

本文分析了与循迹、避障相关的硬件部分的工作原理，根据红外线对不同颜色反射率不同的特点，编写了固定轨道上的循迹程序；根据红外线遇到障碍物时收到的反射信号，确定障碍物的位置，实现左转、右转等方式实现壁障。通过PWM的不同控制了电机的速度和转动方向。利用循迹、避障原理以及电机控制原理，编写在固定轨道上小车循迹过程中能够避障的程序。

实验结果表明：利用上述原理所设计出来的智能小车，能够对黑线实现循迹功能，也能够判断前方有无障碍物并能避开障碍物，满足智能小车的循迹避障要求。

关键词：智能小车；循迹；避障；红外线

Abstract:With the rapid development of computer and microelectronics technology, intelligent car applications more and more widely, has become a lot of enterprise production line automation direction. And tracking, obstacle avoidance is the basic requirements of intelligent car to work properly.

In this paper, the working principle of the hardware part related to tracking and obstacle avoidance is analyzed. According to the characteristics of different reflectivity of different colors, the tracking procedure on the fixed track is written. According to the reflected signal , To determine the location of obstacles to achieve turn left, turn right way to achieve the barrier. Through the different PWM control of the motor speed and direction of rotation. The use of tracking, the principle of obstacle avoidance and motor control principle, the preparation of a fixed track in the process of car can avoid obstacles in the process.

Experimental results show that: the use of the above principles designed by the intelligent car, to the black line to achieve tracking function, but also to determine the front with or without obstacles and to avoid obstacles, to meet the requirements of intelligent car tracking obstacles.

keyword：Intelligent     car；Tracking；Avoidance；Infrared

目录

第一章 绪论 1

1.1研究背景及目的意义 1

1.2国内外研究现状 1

1.2.1国外发展状况 1

1.2.2国内发展状况 2

1.3论文组织架构 4

1.4本章小结 5

第二章智能小车硬件分析 6

2.1车体概述 6

2.2循迹模块 7

2.3避障模块 9

2.4电机驱动模块 11

2.4.1电机驱动原理 11

2.4.2直流电机 12

2.4.3PWM电机调速原理 13

2.5本章小结 14

第三章智能小车的循迹避障算法设计 15

3.1智能小车的循迹 15

3.1.1智能小车的循迹原理 15

3.1.2智能小车的循迹算法 15

3.1.3智能小车的循迹流程图 16

3.2智能小车的避障 17