發(fā)布時(shí)間：2018-08-31 16:16

【摘要】：在機(jī)器人研究熱點(diǎn)下,移動(dòng)機(jī)器人作為機(jī)器人研究的一個(gè)重要分支,其導(dǎo)航定位一直是移動(dòng)機(jī)器人研究的重點(diǎn)。移動(dòng)機(jī)器人的研究目標(biāo)是實(shí)現(xiàn)智能化行走,自主到達(dá)目的地。導(dǎo)航定位技術(shù)是實(shí)現(xiàn)該目的的主要方法。導(dǎo)航是移動(dòng)機(jī)器人的基礎(chǔ),定位是導(dǎo)航的關(guān)鍵。本文設(shè)計(jì)了一套基于Android和GPS定位的智能小車系統(tǒng):Android手機(jī)APP完成智能小車的規(guī)劃路徑及跟蹤、通過(guò)藍(lán)牙實(shí)現(xiàn)手機(jī)與智能小車的無(wú)線數(shù)據(jù)傳輸,配合智能小車的避障系統(tǒng),控制小車按規(guī)定路線安全行駛至目的地。系統(tǒng)設(shè)計(jì)分為Android APP設(shè)計(jì),智能小車系統(tǒng)設(shè)計(jì)兩部分。基于GPS定位進(jìn)行APP開(kāi)發(fā),通過(guò)調(diào)用百度地圖導(dǎo)航SDK實(shí)現(xiàn)路徑規(guī)劃,利用函數(shù)launchNavigator設(shè)置導(dǎo)航起點(diǎn)、終點(diǎn)、算路方式、在離線策略。定位SDK實(shí)現(xiàn)獲得坐標(biāo)信息,在類MainActivity中循環(huán)定位獲取坐標(biāo)信息作為智能小車行駛的指導(dǎo)信息。調(diào)用手機(jī)藍(lán)牙功能,連接藍(lán)牙設(shè)備解決百度地圖和智能小車GPS定位模塊之間數(shù)據(jù)的實(shí)時(shí)傳輸問(wèn)題,結(jié)合百度地圖進(jìn)行實(shí)時(shí)導(dǎo)航定位。智能小車采用STM32微處理器為控制核心,通過(guò)藍(lán)牙無(wú)線通信實(shí)現(xiàn)數(shù)據(jù)傳輸,獲取坐標(biāo)信息并反饋定位信息,利用GPS坐標(biāo)、方位傳感器、速度檢測(cè)模塊相結(jié)合的方式,以超聲波避障系統(tǒng)輔助,完成智能小車的智能化導(dǎo)航任務(wù)。經(jīng)測(cè)試,智能小車能夠根據(jù)APP的路徑規(guī)劃信息完成定位并按規(guī)定路線行駛至目標(biāo)點(diǎn)的任務(wù)。
[Abstract]:As an important branch of robot research, mobile robot has always been the focus of mobile robot research. The research goal of mobile robot is to realize intelligent walking and to reach its destination independently. Navigation and positioning technology is the main method to achieve this goal. Navigation is the foundation of mobile robot, and positioning is the key of navigation. In this paper, we design a smart car system based on Android and GPS, which is based on Android and GPS, and APP realizes the path planning and tracking of smart car, realizes the wireless data transmission between mobile phone and smart car through Bluetooth, and coordinates with the obstacle avoidance system of smart car. Control the car to follow the prescribed route safely to the destination. The system design is divided into two parts: Android APP design and intelligent car system design. The APP is developed based on GPS positioning, and path planning is realized by calling Baidu map navigation SDK. The function launchNavigator is used to set the navigation starting point, end point and calculation way, and the off-line strategy. The coordinate information can be obtained by locating the SDK, and the coordinate information can be obtained by circular positioning in the similar MainActivity as the guiding information for the driving of the intelligent car. Calling Bluetooth function of mobile phone, connecting Bluetooth device to solve the problem of real-time data transmission between Baidu map and intelligent car GPS positioning module, and combining Baidu map to carry out real-time navigation and positioning. The intelligent car adopts STM32 microprocessor as the control core, realizes data transmission through Bluetooth wireless communication, acquires coordinate information and feedback positioning information, and combines GPS coordinate, azimuth sensor and speed detection module. The intelligent navigation task of the intelligent car is completed with the aid of ultrasonic obstacle avoidance system. The test results show that the intelligent vehicle can complete the task of locating and driving to the target point according to the path planning information of APP.
【學(xué)位授予單位】：山東科技大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2017
【分類號(hào)】：TP242

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本文編號(hào)：2215508