摘要
本文介绍了自主式寻迹智能车的设计,研究了采用红外反射式光电传感器作为路径采集模块实现自动寻迹的软硬件设计方法。系统以FUJITSU公司的MB89F202为主控制器,利用光电传感器阵列采集离散的路径信息,对舵机和驱动电机分别采用了PID控制算法和间接的PID控制算法,从而避免了智能车转向及车速调节的阶跃式变化,消除了超调及振荡现象,达到了近似连续的控制效果。研究表明,此设计方案可在黑白(或色差较大)赛道上获得良好的自主寻迹效果。
The paper introduces the design of the autonomous tracing intelligent vehicle. The software and hardware design method which realizes the autonomous tracing using the infrared reflective photoelectric sensors as the path recognition module is researched. The system with the key controller of FUJITSU Corporation＇s MB89F202 recognizes discrete path information by an array of photoelectric sensors. The PID algorithm and the indirect PID algorithm are utilized on the servomotor and the motor-drive respectively. Therefore, the system avoids the step-variation of intelligent vehicle＇s direction and speed change, eliminates he over-control and oscillation, and approximately obtains continuous control effect. The study shows that the design plan has a nice autonomous tracing effect on the black and white （or large colordifference） track.
出处
《国外电子测量技术》
2007年第8期40-42,共3页
Foreign Electronic Measurement Technology
关键词
智能车
寻迹
光电传感器
路径识别
intelligent vehicle
autonomous tracing
photoelectric sensor
path recognition
