目 录
1 引言.................................................................................................................................1
2 ARM 与智能车..................................................................................................................2
2.1 ARM ........................................................................................................................2
2.2 智能车 ..................................................................................................................7
2.2.1 AGV 的主要系统构成 ..............................................................................8
2.2.2 AGV-AGV 地面（上位）控制系统 ........................................................9
2.2.3 AGV-AGV 车载（单机）控制系统 ........................................................9
3 系统硬件设计...............................................................................................................11
3.1 直流电机模块 ....................................................................................................11
3.2 电源模块 ............................................................................................................12
3.3 寻迹蔽障红外对管模块处 ................................................................................13
3.3.1 红外对管的概述......................................................................................13
3.3.2 红外对管的应用......................................................................................13
3.3.3 红外线接收头..........................................................................................17
4 系统程序设计...............................................................................................................21
4.1 主程序流程图 ....................................................................................................21
4.2 模块程序设计流程图 ........................................................................................22
4.2.1 寻迹模块..................................................................................................22
4.2.2 避障模块..................................................................................................22
5 系统调试.......................................................................................................................24
5.1 硬件调试 ............................................................................................................24
5.1.1 静态调试..................................................................................................24
5.1.2 联机调试..................................................................................................24
5.2 软件调试 ............................................................................................................25
5.3 系统调试 ............................................................................................................25
结 论..............................................................................................................................27
参考文献..............................................................................................................................28
致 谢..............................................................................................................................29
附录 I 电路原理图...........................................................................................................30
附录 II 控制源程序.........................................................................................................31
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