摘要
通过建立两轮驱动智能小车的运动模型,分析了各因素对智能小车的影响,改进了光电管传感器的布局,设计了相应的信号转换电路和检测算法,使系统得到更加准确、丰富的信息,同时简化了其信号输入接口.通过设计轨道识别算法,使智能小车能够根据循迹状态,切换到其相应的控制策略.在Matlab上仿真以及基于广茂达AS-MF09智能小车平台上的实控,检验了上述设计,取得了良好的循迹控制效果.
By establishing the motion model of the intelligent car driver,analyzes the influencing factors of the intelligent vehicle,improved photoelectric sensor layout,design the corresponding signal conversion circuit and the detection algorithm,so that the system can obtain more accurate and abundant information,and simplifies the signal input interface.And through the design of track recognition algorithm,the intelligent car according to the tracking state,switch to the corresponding control strategy.Through the Matlab simulation and control grandar AS-MF09 smart car platform based on the test,the design achieved good tracking control effect.
作者
潘立琼
张健
PAN Li-qiong;ZHANG Jian(Faculty of Traffic Engineering;Faculty of Computer Engineering,Anhui Sanlian College,Hefei 230601)
出处
《阴山学刊(自然科学版)》
2018年第2期70-74,共5页
Yinshan Academic Journal(Natural Science Edition)
基金
安徽省教育厅2017年度高校优秀拔尖人才培育资助项目(gxyq2017138)
2017年度校级科研项目基于Hadoop大数据技术在智能交通数据分析中的应用研究(PTZD2017005)
关键词
智能小车
循迹控制
运动模型
光电传感器
轨道识别
Smart car
Tracking control
Motion model
Photo-electricity sensor
Track identify