一种基于模糊控制的智能车转向控制算法研究

Research on Intelligent Car's Servo Control Algorithm Based on Fuzzy Control

针对飞思卡尔电磁车模型,探讨了从交变电流产生的电磁场中进行路径检测的问题,提出了一种基于模糊控制的舵机转向控制算法,目的是提高智能车通过复杂电磁赛道特别是S弯道时的稳定性,并进行了仿真与试验验证。结果表明,设计的电路能很好的进行路径检测,提出的转向控制算法能使小车的舵机输出以较高精度跟随期望输入信号,在复杂赛道上得到较为平稳的转向控制。

Aiming at the intelligent vehicle model, how to recognize navigation path from an AC electromagnetic field is discussed, and a steering control algorithm based on fuzzy control for autonomous navigation of vehicle is brought forward in this paper. Both the simulation and test results show that the designed circuit does better at path detection, and the fuzzy control can improve the stability of control greatly.