摘要
介绍一种基于红外反射式光电传感器路径识别的智能车控制系统;系统采用Freescale 16位单片机MC9S12XS128为核心控制器,利用8个红外光电传感器构成的光电传感器阵列采集路面信息,单片机获得传感器采集的路面信息和车速信息,经过分析后控制智能车的舵机转向,同时对直流电机进行调速,从而实现智能车沿给定的黑线快速平稳地行驶;实验证明:系统能很好地满足智能车对路径识别性能和抗干扰能力的要求,舵机调节响应时间快,稳态误差小,具有较好的动态性能和良好的鲁棒性。
A smart car control system based on the infrared reflective photoelectric sensors was introduced. The system employs Frees- cale XS series 16 bit single--chip microcomputer MC9S12XS128 as its main controller and an array of photoelectric sensors for recognizing the path information. Single--chip Microcomputer energizes the server to steer and control the speed of the DC electric motor according to the analysis of the path and speed information from sensors. Consequently , this intelligent vehicle can track the black-guide--line automatically and move forward following the line quickly and smoothly. Experimental results show that the system meets the need of path recognition and anti--interfere, adjusts actuator quickly, while has little error in steady state, good dynamic characteristics and well robustness.
出处
《计算机测量与控制》
CSCD
北大核心
2010年第8期1789-1791,共3页
Computer Measurement &Control
