摘要
为了使智能车能够以最优的路径行驶,以"飞思卡尔杯"智能车竞赛B车模、单片机、高速摄像头等为硬件平台,使用闭环PID与鲁棒算法相结合的方式控制电机,搭建了可根据已知亮灯顺序来提前调整小车行驶状态的智能车系统。行驶实验表明:该系统可以实现对智能车的稳定控制并使智能小车以最优的路径行驶。
In order to realize the smart car driving on the optimal path,using the＂Freescale Cup＂smart car race B model,single-chip（SCM）microcomputer,high-speed camera as the hardware platform,applying the closed-loop PID combined with the robust algorithm to control the motor,a smart car system adjusting the traveling state of the car in advance according to a known lighting sequence was set up.The driving experiment shows that the system can achieve stable control of the smart car and make the smart car run on the optimal path.
作者
曹煜晖
黄成
李鹏
张磊
晏涛
CAO Yu-hui;HUANG Cheng;LI Peng;ZHANG Lei;YAN Tao(School of Mechanical Engineering,Hubei University of Arts and Science,Xiangyang 441053,China)
出处
《机械工程与自动化》
2018年第6期153-154,156,共3页
Mechanical Engineering & Automation
基金
湖北省科技支撑计划(2015BAA034)
关键词
智能车
单片机
PID
最优路径
smart car
single chip microcomputer
PID
optimal path
