摘要
传统寻迹智能小车的研究局限于设定好的路径,为了提升其自主性,提出了一种新的智能小车控制策略,融合了姿态调整算法以及避障算法,并结合模糊规则库实现了转向角与速度的协调.通过曲线拟合验证了转向角与转弯半径的关系,运用坐标变换思想大大简化了智能车位置以及圆弧切点的计算,同时,由于姿态调整算法的引入,避免了大角度转弯造成的减速运行,提高了智能车的平均速度.最后通过仿真和实验证明了算法及其控制策略的有效性.
The traditional research on tracking intelligent vehicles is limited to the predetermined path.In order to enhance their autonomy,a new control strategy for intelligent vehicle is addressed.It combines attitude adjustment algorithm with obstacle avoidance algorithm.It can coordinate the steering angle and speed based on fuzzy rule base.The relationship between steering angle and turning radius is verified by curve fitting.The calculation of intelligent vehicle position and the tangent point of arc is also simplified through coordinate transform method.Meanwhile,the attitude adjustment algorithm is used and the slowdown caused by large angle turning is avoided and the average speed of intelligent vehicle is improved.Finally,the simulation and experiment shows that this algorithm and control strategy are effective.
出处
《浙江工业大学学报》
CAS
2012年第2期217-221,共5页
Journal of Zhejiang University of Technology
基金
2009年浙江省大学生科技创新活动计划项目(2009R403064)
关键词
姿态调整
避障算法
模糊控制
转弯半径
attitude adjustment
obstacle avoidance algorithm
fuzzy control
turning radius
