Ab
stract—In view of obstacle avoidance based on static
ultrasonic wave sensor when the low sensitivity, slow response and
low obstacle avoidance rate defect exists in the intelligent cars. An
omnidirectional intelligent obstacle avoidance system was
designed to control the ultrasonic sensor rotating for measuring
distance. PWM drive servo actuators were used in this system to
control the rotation measurement of ultrasonic sensor. Through
sorting and filtering the sampled data, and then determine the
optimal path, which can achieve a full range of autonomous
obstacle avoidance. The experimental results show that the
designed system can effectively improve the speed, sensitivity and
obstacle avoidance success rate of autonomous obstacle
avoidance.
Key wo
rds—Ultrasonic sensor; Obstacle avoidance; Intelligent
vehicle; Servo control; Arduino.
I. I
NT
RODUCTION
A
l
ong with the development of robot technology continues
to improve, the application in logistics, EOD, metallurgical
exploration, deep space exploration in the field of increasing
popularity in various types of non-structural environment
undertakes inspection, handling, detection and other tasks. In
recent years, all countries in the world continue to develop the
operation function of robots, and design various control
algorithms and processes for different needs, which have many
potential prospects in all walks of life.
As a necessary function of robot work, obstacle avoidance
is the basic problem of robot design. The so-called obstacle
avoidance
[1]
is to use the advanced range finding device in
T
his work was supported in part by the National Natural Science Foundation
of China (Grant nos. 61773335, 51405428), Natural Science Foundation of
Jiangsu Province (Grant no. BK20171289), the Natural Science Foundation of
Yangzhou City for Outstanding Young Scholars (Grant no. YZ2017099), the
Open Project Program of Ministry of Education Key Laboratory of
Measurement and Control of CSE (Grant no. MCCSE2016A01), Key
University Science Research Project of Jiangsu Province and Yangzhou
University (Grant nos. 15KJA460004 and 2017CXJ045).
f
ront of the smart car. When the smart car meets obstacles
before, it can locate and respond to the location sensor in front
of the smart car, and enter the microcontroller through the data
transmission to carry out the core processing. This model has
high sensitivity to the single chip computer. After receiving the
signal, it can quickly analyze the data and respond quickly. A
perfect ultrasonic obstacle avoidance system for intelligent
vehicle
[2]
i
s formed by the coordination of the sensor and the
core single chip. Many experimental results show that smart car
can accomplish obstacles and avoid tasks such as friction and
collision at high speed, and successfully achieve obstacle
avoidance, enabling intelligent vehicle to achieve
self-regulation and self-driving control objectives.
The use of ultrasonic sensors to achieve obstacle
avoidance is convenient, simple and easy to implement
real-time control, and it can meet the actual requirements of
measurement accuracy. It is a commonly used obstacle
avoidance control sensing method. In this paper, the distance
between cars and obstacles is collected through multiple
ultrasonic sensors
[3]
, a
nd realize obstacle detection by multiple
angles. We can judge, control, move forward, retreat and turn,
so that cars can avoid obstacles and move according to the set
track.
At present, the automatic obstacle avoidance method used
in the intelligent vehicle is the obstacle avoidance under the
single sensor or the obstacle avoidance under the multi sensor.
Point-avoidance-obstacle adopts single sensor, and its accuracy
and success rate are very low. By relying on complex algorithm
and iterative operation, and constantly controlling car body
during operation, it is easy to cause false impact and low
accuracy. Although the use of surface obstacle avoidance of
multiple sensor coordination, but because it involves the timer
between time-sharing, request processing chip operation
ability, at the same time because of the need of data integration
between different sensors with complex algorithm
[4]
fo
r
optimization of time and space complexity have higher
requirements.
Design of an Intelligent Active Obstacle
Avoidance Car Based on Rotating Ultrasonic
Sensors
Yun
Jin
1
,
Shengquan Li
1*
, J
uan Li
1
, Hong
bing Sun
2
,
Yuanwang Wu
1
1, School of Hydraulic, Energy and Power Engineering, Yangzhou University, Yangzhou 225127, China
2
, School of Physics and Electronic Electrical Engineering, Huaiyin Normal University, Huaian 223300, China.
E-mail:
s
qli@yzu.edu.cn
978-1-5386-7056-9/18/$31.00 © 2018 IEEE
Proceedings of 2018 IEEE 8th Annual International Conference
on CYBER Technology in Automation, Control, and Intelligent Systems
July 19-23, 2018, Tianjin, China