基于电磁效应的轮式智能车导航控制

Navigation and Control for Wheeled Intelligent Car Based on Electromagnetic Effect

以智能交通概念原型系统为背景,引入电磁效应构建了微型道路交通线路,采用微型控制器设计了在缩微交通环境中行驶的轮式小车导航与控制系统.根据沙盘区域的实际几何参数,建立了可行的行驶路线网络,引入RFID设计了交叉路口的转向策略,实现了多辆车模按照设定路径的准确行驶.针对电磁效应导航线的识别进行了理论分析,给出了系统架构和传感器布局,以及小车偏航距离与方向的判断方法.实际测试表明,所设计的电磁导航控制系统能够稳定运行,可引导小车在复杂的道路网络上准确行驶.

With intelligent transportation system as the background,a navigation and control system of wheeled car was designed and implemented on the basis of the electromagnetic effect.The model cars would run in a micro-traffic-network environment.According to the real geometry parameters of the sand-table,feasible route for the cars was built and the direction-turning strategy of intersect junction with RFID tags was designed.Multiple conceptual models could run along with the designated path correctly.Theoretical analysis was proposed for electromagnetic navigation line.System architecture and sensors layout were introduced in details as well as the judgment of car＇s deviation,including distance and direction.Experimental test showed that the proposed navigation and control system can work stably and lead the wheeled car run correctly in complex route net.