Design and Implementation of Smart Car Obstacle Avoidance
Based on Single-Chip Microputer
Author ：Chenyandong
Tutor ：Weiyongtao
Abstract
Smart car obstacle avoidance, which is called wheeled robot obstacle avoidance, is one
kind of mobile robot. Based on the framework of a four-wheel mobile robot, and the core of
8-bit AVR micro controller with programmable flash in 16 KB system, the thesis has
developed a module of obstacle avoidance which is used in the smart car. The module mainly
consists of the control part, detection part, power part and motor part. The thesis makes use of
ultrasonic sensors to detect the environment around the smart car. In the ultrasonic ranging, it
has effectively prevented the echo signal interference by the way of cyclic launch. And with a
launcher and two neighboring receivers, it is provided with much information about distance
in the same direction. The method also gives more ways to represent the distance. The thesis
also uses AVR Single-Chip Microputerto process the obstacle information discovered by
ultrasonic sensors, such as distance and angle. Then the thesis pletes the obstacle pattern
recognition through a new control algorithm, and achieved autonomous obstacle avoidance
with PWM controlling L298N motor driver. Finally, the thesis makes the conclusion that it
acplishes the design and implementationof the obstacle avoidance car based on
Single-ChipMicroputeris achieved through coding, debugging and repeatedly verification.
Key words:Obstacle Avoidance，ATmega16 Single-Chip Microputer，Ultrasonic Sensors，
L298N Motor Driver
