无线遥控智能车的控制研究

Control and Study of Wireless Control System of Intelligent Vehicle

智能车的行走过程受工况环境和自身结构的影响。传统智能车的单驱动结构灵活性差,无法满足复杂工况的即时控制,提出了以AT89S52为核心的控制算法。该算法参考了车辆的运动学方程,结合红外接收原理及避障模块构成控制系统外围,在AT89S52的协调下,实现对智能车左、右轮的速度控制。经智能车实物模型在模拟工况下实际行走2米过程中,向左偏差2.5厘米,符合设计精度。验证了该算法可行、有效,提高了智能车无线控制的灵活性。

The walking of intelligent vehicle is affected by environment and its own structure. The single drive structure of traditional in- telligent vehicle is poor in flexibility and Unable to achieve real--time control in complex environment. Therefore, the researchers introduced the control algorithm focusing on AT89S52. This algorithm consulted the kinematics equation, combined ultrared rays receiving theory and obstacle avoidance model, thus constructed its outer structure of the control system. With the coordination of AT89S52, it will control over the speed of left and right wheels of the intelligent vehicle. The intelligent vehicle has been operated under simulated environment in which it has a left deviation of 2.5 cm in the practical process of walking 2 meters, which complys with the design precision , which has proved that this algorithm is practicable and effective and improved the wireless control flexibility of the intelligent vehicle.