智能小车循迹避障代码

智能小车循迹避障的代码通常涉及几个关键部分：路径追踪、障碍物检测和避障策略。这里是一个简化的伪代码示例：

class SmartCar:
    def __init__(self, wheel_distance):
        self.position = (0, 0) # 初始位置
        self.speed = 0       # 初始速度
        self.wheel_distance = wheel_distance # 轮距

    def track_line(self, target_line):
        error = target_line - self.position[1] # 计算偏移
        steering_angle = error / self.wheel_distance # 根据偏差调整方向
        self.speed += adjust_speed(steering_angle) # 更新速度
        self.position += move_distance(self.speed) # 移动到新的位置

    def detect_obstacles(self, sensor_data):
        obstacles = find_obstacles(sensor_data) # 使用传感器数据识别障碍
        return obstacles

    def avoid_obstacle(self, obstacle):
        distance_to_obstacle = calculate_distance(obstacle)
        if distance_to_obstacle < safety_threshold:
            self.decelerate() # 如果距离过近，减速或停止
        else:
            adjust_steering_angle_for_obstacle(obstacle) # 调整方向绕开障碍

# 实现函数：... (你需要实现具体的路径跟踪、障碍物处理等算法)

smart_car = SmartCar()
while True:
    target_line = get_target_line() # 获取目标线
    obstacles = smart_car.detect_obstacles() # 获取当前障碍
    smart_car.track_line(target_line)
    smart_car.avoid_obstacle(obstacles)