基于模糊控制的智能循迹小车的设计

Design of the Intelligent Tracking Car Based on Fuzzy Control

介绍了基于模糊控制的智能小车的循迹方法。智能车通过车前部安装的红外传感器釆集道路信号,将信息数据传送至模糊控制器,通过模糊算法,输出相应的信号控制小车自循迹跟踪。该控制器以传感器与黑色引导线的偏差及偏差变化率作为控制器的输入,输出智能车转角和速度,缩短了系统执行时间,提高了系统响应速度。实验表明,模糊控制策略在智能车的循迹精确度、速度上有明显优势。

This paper introduces the intelligent car tracking method based on fuzzy control. Smart car collects the road information through the infrared sensor in front of the ear ; the sensor transmits the information data to the fuzzy controller, and then outputs the corresponding signal to control the car self-tracking tracking by fuzzy algorithm. The deviation and the deviation change rate between the senor and the black guide-line are the input of the controller, then the angle and the speed of intelligent car is output to reduce the execution time and improve the system response speed. Experiments show that the fuzzy control strategy has obvious advantages in tracking precision and speed of the smart car.