地面GPS自主导航车的设计

摘要

设计了一种自主导航车,以OpenWrt嵌入式Linux系统作为导航车的控制核心,包含电源模块、电机驱动电路、GPS模块,超声波测距模块及相应软件设计方案.通过GPS模块确定位置信息,结合超声波测距检测路面状况,处理器内部程序控制直流电机的转速以及转向和伺服电机进行导航车行进方向控制,从而使小车能够沿着规划轨迹自动行驶,实现小车自主导航的目的.试验结果表明,整个系统的电路结构简单,可靠性高,程序运行稳定,实现了预期的自主导航功能.%The paper designs an autonomous navigation vehicle based on OpenWrt used embedded Linux control system as the core of the car navigation, including power module, motor drive circuit, GPS module, ultrasonic ranging module and the corresponding software design. It determines the location information through the GPS module, combined with ultrasonic detection of pavement condition, internal processor program controls DC motor speed and steering, vehicle navigation control and direction of the servo motor, so that the car can achieve automatic driving along the trajectory planning, car navigation purposes. The test results show that the whole system has simple circuit structure, high reliability, stable program operation, and achieved the desired autonomous navigation function.