多智能小车一致性跟踪研究与仿真

Research and simulation of multi-vehicles consistency tracking

介绍了目标一致性跟踪算法的原理,设计了一款搭载STM32单片机、CC2420无线通信模块和URM37V4.0超声波模块的智能小车,组成了一个包含3辆智能小车和6个信标节点的系统对算法进行了硬件仿真。实验中由信标节点对领导小车进行定位,两辆跟随小车和领导小车利用无线通信完成对目标的一致性跟踪。为了完成信标节点对领导小车的定位,论文首先测得了实验环境下CC2420无线通信模块射频信号强度值（RSSI）与距离的关系。仿真结果表明,所示采用的算法及设计的硬件能够实现对运动目标的一致性跟踪且跟踪效果较好。

The theory of consistency target tracking was introduced and an intelligent vehicle with STM32 MCU,CC2420 RF module and URM37 V4.0 ultrasonic module was designed.A system consisted of three such vehicles and six beacon nodes was designed to simulate the algorithm of consistency target tracking.In the experiment,the vehicle was located by the beacon nodes and the target was tracked by the vehicles communicating with each other.To locate the leading vehicle with the help of beacon nodes,the relationship between RSSI and distance was got in a prior experiment.The result of the simulation shows that the algorithm and the hardware design in this paper can reach the goal of consistency target tracking.