摘要
针对智能车使用摄像头寻迹、红外寻迹易受到外界环境影响,使寻迹不稳定的问题,本文给出了一种基于电磁导航并结合闭环PID算法和差速转向的智能小车循迹方法并通过调节PWM波的占空比实现智能小车的差速转向.实验表明该方案使智能车以平均2.5 m/s速度稳定完成出入库、环岛、坡道、曲线弯道、十字交叉路口等的寻迹过程.
Aiming at the problem that the tracking of intelligent car is unstable due to the influence of external environment when using camera and infrared tracking,this paper presents a tracking method of intelligent car based on electromagnetic navigation combined with closed-loop PID algorithm and differential steering,and realizes the differential steering of intelligent car by adjusting the duty ratio of PWM wave.Experiments show that the scheme enables the intelligent vehicle to stably complete the tracing process at an average speed of 2.5 m/s,such as entering and leaving the warehouse,roundabout,ramp,curve and intersection,etc.
作者
吕真真
黄晓辉
李丹
朱小强
唐武雪
LV Zhen-zhen;HUANG Xiao-hui;LI Dan;ZHU Xiao-qiang;TANG Wuxue(School of Electrical and Information Engineering,Anhui University of Technology,Anhui Ma'anshan 243032,China)
出处
《新一代信息技术》
2022年第8期1-5,共5页
New Generation of Information Technology
基金
2021年安徽省高等学校大学生创新创业训练计划项目(项目编号:S202110360264)
关键词
智能车
电磁寻迹
PID
闭环控制
smart car
electromagnetic tracking
PID
closed loop control
