智能避障机器人设计外文翻译.docx

智能避障机器人设计外文翻译.docx

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智能避障机器人设计外文翻译

INTELLIGENTVEHICLE

Oursocietyisawashin“machineintelligence”ofvariouskinds.Overthelastcentury,wehavewitnessedmoreandmoreofthe“drudgery”ofdailylivingbeingreplacedbydevicessuchaswashingmachines.

Oneremainingareaofbothdrudgeryanddanger,however,isthedailyactofdrivingautomobiles1.2millionpeoplewerekilledintrafficcrashesin2002,whichwas2.1%ofallglobaldeathsandthe11thrankedcauseofdeath.Ifthistrendcontinues,anestimated8.5millionpeoplewillbedyingeveryyearinroadcrashesby2020.Infact,theU.S.DepartmentofTransportationhasestimatedtheoverallsocietalcostofroadcrashesannuallyintheUnitedStatesatgreaterthan$230billion.

Whenhundredsorthousandsofvehiclesaresharingthesameroadsatthesametime,leadingtothealltoofamiliarexperienceofcongestedtraffic.Trafficcongestionunderminesourqualityoflifeinthesamewayairpollutionunderminespublichealth.Around1990,roadtransportationprofessionalsbegantoapplythemtotrafficandroadmanagement.Thuswasborntheintelligenttransportationsystem（ITS）.Startinginthelate1990s,ITSsystemsweredevelopedanddeployed.Indevelopedcountries,travelerstodayhaveaccesstosignifi-cantamountsofinformationabouttravelconditions,whethertheyaredrivingtheirownvehicleorridingonpublictransitsystems.

Astheworldenergycrisis,andthewarandtheenergyconsumptionofoil--andarefullofenergy,inoneday,somedayitwilldisappearwithoutatrace.Oilisnotinresources.Soinoilconsumptionmustbecleanbeforefindingareplacement.Withthedevelopmentofscienceandtechnologytheprogressofthesociety,peopleinventedtheelectriccar.Electriccarswillbecomethemostidealoftransportation.

Inthedevelopmentofworldeachaspectisfruitful,especiallywiththeautomobileelectronictechnologyandcomputerandrapiddevelopmentoftheinformationage.Theelectroniccontroltechnologyinthecaronawiderangeofapplications,theapplicationoftheelectronicdevice,cars,andelectronictechnologynotonlytoimproveandenhancethequalityandthetraditionalautomobileelectricalperformance,butalsoimprovetheautomobilefueleconomy,performance,reliabilityandemissionspurification.Widelyusedinautomobileelectronicproductsnotonlyreducesthecostandreducethecomplexityofthemaintenance.Fromthefuelinjectionengineignitiondevices,aircontrolandemissioncontrolandfaultdiagnosistothebodyauxiliarydevicesaregenerallyusedinelectroniccontroltechnology,autodevelopmentmainlyelectromechanicalintegration.Widelyusedinautomotiveelectroniccontrolignitionsystemmainlyelectroniccontrolfuelinjectionsystem,electroniccontrolignitionsystem,electroniccontrolautomatictransmission,electroniccontrol（ABS/ASR）controlsystem,electroniccontrolsuspensionsystem,electroniccontrolpowersteeringsystem,vehicledynamiccontrolsystem,theairbagsystems,activebeltsystem,electroniccontrolsystemandtheautomaticair-conditioningandGPSnavigationsystemetc.Withthesystemresponse,theusefunctionofquickcar,highreliability,guaranteesofenginepowerandreducefuelconsumptionandemissionregulationsmeetstandards.

Thecarisessentialtomoderntraffictools.Andelectriccarsbringusinfinitejoywillgiveusthephysicalandmentalrelaxation.Takeforexample,automatictransmissioninroad,cannotontheclutch,canachieveautomaticshiftandengineflameout,notsoeffectiveimprovethedrivingconveniencelightenthefatiguestrength.Automatictransmissionconsistsmainlyofhydraulictorqueconverter,geartransmission,pump,hydrauliccontrolsystem,electroniccontrolsystemandoilcoolingsystem,etc.Theelectroniccontrolofsuspensionismainlyusedtocushiontheimpactofthebodyandtheroadtoreducevibrationthatcargettingsmooth-goingandstability.Whenthevehicleinthecarwhentheroadunevenroadcanaccordingtoautomaticallyadjusttheheight.Whenthecarratioofheight,lowsettogasoroilcylinderfillingoroil.Ifisopposite,gasordiarrhea.Toensureandimprovethelevelofdrivingcarsdrivingstability.Variableforcepowersteeringsystemcansignificantlychangethedriverfortheworkefficiencyandthestate,sowidelyused

inelectriccars.VDCtovehicleperformancehasimportantfunctionitcanaccordingtotheneedofactivebrakingtochangethewheelsofthecar,carmotionsofstateandoptimumcontrolperformance,andincreasedautomobileadhesion,controllingandstability.Besidesthese,appearbeyond4WS4WDelectriccarscangreatlyimprovetheperformanceofthevalueandascendingsimultaneously.ABSbrakingdistanceisreducedandcankeepturningskillseffectivelyimprovethestabilityofthedirectionssimultaneouslyreducetyrewear.Theairbagappearinlargeprogramsprotectedthedriverandpassenger'ssafety,andgreatlyreduceautomobileincollisionofdriversandpassengersinthebuffer,toprotectthesafetyoflife.

Intelligentelectronictechnologyinthebustopromotesafedrivingandthattheotherfunctions.Therealizationofautomaticdrivingthroughvarioussensors.Exceptsomesmartcarsequippedwithmultipleoutsidesensorscanfullyperceptionofinformationandtrafficfacilitiesandtojudgewhetherthevehiclesanddriversindanger,hastheindependentpathfinding,navigation,avoidbump,noparkingfeesetc.Function.Effectivelyimprovethesafetransportofmanipulation,reducethepilotfatigue,improvepassengercomfort.Ofcoursebatteryelectricvehicleisthekey,theelectriccarbatterymainlyhas:

theuseoflead-acidbatteries,nickelcadmiumbattery,thebattery,sodiumsulfidesodiumsulfidelithiumbattery,thebattery,thebattery,theflywheelzinc-airfuelcellandsolarbattery,thebattery.Inmanykindofcells,thefuelcellisbyfarthemostwanttosolvetheproblemofenergyshortagecar.Fuelcellshavehighpollutioncharacteristics,differentfromotherbattery,thebattery,neednotonlyexternalconstantlysupplyoffuelandelectricitycancontinuouslysteadily.Fuelcellvehicles（FCEV）canbematchedwiththecarengineperformanceandfueleconomyandemissionintheaspectsofsuperiorinternal-combustionvehicles.

Alongwiththecomputerandelectronicproductconstantlyupgradingelectriccar,openclassinmaturetechnologyandperfected,thatdrivemoresafe,convenientandflexible,comfortable.Electriccarswithtraditionaltocompeteinthemarket,thecarwillwaselectriccarsandintelligentcarreplaced.Thisisthequestionthatday

aftertimingwillcome.ABS,GPS,andvariousnew4WD4WS,electronicproductsandthemodernera,excellentperformanceautotacitunderstandingistie-in,bringusunparalleledprecisiondrivingcomfortandsafetyofdriving.

ThehardwareandsoftwareoftheintelligentvehiclearedesignedbasedonAVR.Thissystemcouldsettherouteinadvance.ThevehiclecouldcommunicatewiththePCvianRF401andcouldrunsafelywiththehelpofultrasounddetectionandinfraredmeasuringcircuit.Neuralnetworkself-studyisusedtoimprovetheintelligenceofthevehicle.

Theperformanceofservosystemswilldeterminethepropertyoftherobot.BasedonAVRseriesMCU，thevelocityservosystemfordrivingmotoriscreatedinthispaper，includingadiscretePIregulatorwhichwillworkoutaPWMcontrolsignalwithapplyingtheskillofintegralseparation.Thevelocitiesofmotorswillbecontrolledreal-timewiththespeedsamplingfrequencysetfor2KHzbyusingtheAVR-GCCcompilersoftwaredevelopment.Comparedtotheservosystemdevelopmentbasedonthe51SeriesMCU，thesystemherehastheseadvantagesofsimplerperipheralcircuitandfasterdataprocessing.Theexperimentsdemonstratethat，themobilerobotrunsstablyandsmoothlybythecontrolofAVRunits，andthatthedesignproposalespeciallybenefitsthedevelopmentofintelligentmobilerobots，alsocanbewidelyusedinthedevelopmentofothersmartdevicesandproductlines.

AnewdesignofcontestrobotcontrolsystembasedonAVRAtmega8wasputforward.Accordingtothecharacterofcontestrobot,themaincontrolunit,motordriveunit,sensedetectionunitandLCDdisplayunitwereintroduced.FurthermoretheservodriversystembasedonMCBL3006S,thelinetrackersensorsystemandtheobstacleavoidancesensorsystemwerepresentedindetail.Finallytheperformanceshowsthatthecontrolsystemisopen,simple,easyprogramming,intelligentandefficiency.

Avoidancerulesofintelligentvehicleobstacleareintroducted.Throughthecollectionofinfraredsensorformation,therulesusediodeD1tolaunchanddiodeD2toreceiveinfraredsignals.Infraredtransmittersignalwithoutadedicatedcircuit

comesdirectlyfromtheMCUclockfrequency,whichnotonlysimplifierthecircuitanddebugging,butalsomakethecircuitstabilityandanti-jammingcapabilitygreatlyenhanced.Aftertheexperimentalverification,thesystemrunsreliablymeetthedesignrequirements.

AsmartcarcontrolsystemofthepathinformationidentifiedbasedonCCDcamerawasintroduced.Thehardwarestructureandschemeweredesigned.Thecontrolstrategyofsteeringmechanismwaspresented.Thesmartcarnotonlycanidentifytheroadprecisely,butalsohaveant-interferenceperformance,andsmallsteadystateerror.

Thisarticledesignedsmartcarsystem,includestheaspectsofthesensorinformationacquisitionandprocessing,motordrive,controlalgorithmandcontrolstrategyetc.Usinglasersensortocollecttheroadinformationwhichcanfeedbacktothemicro-controllercontrolsystem,thenmakinganalyticalprocessingcombinedwiththesoftware.WithvelocityfeedbackandPIDcontrolal