基于模糊PD算法的竞速小车过弯策略研究

Research on Cornering Strategy of Racing Car Based on Fuzzy PD Algorithm

为解决竞速小车在竞速赛中快速稳定通过各种复杂弯道,设计了一种基于开源硬件Arduino单片机和模糊PD算法的低成本竞速小车系统,系统主要由Arduino UNO单片机、八路光电传感器探测模块、陀螺仪模块、红外避障传感器等组成.为得到最优过弯策略,实验过程中分别采用了普通条件判断算法、固定参数PID算法和模糊PD算法进行实验测试分析,实验表明,竞速小车运用上述3种算法跑完赛道的时间分别为55 s、41 s和32 s;结果表明,采用模糊PD算法的竞速小车能较好的适应直道和多种弯道,且速度最快.

In order to bring about the effect that a racing car can quickly and stably pass through various complex curves in a racing game,a low-cost racing car system based on the open-source hardware Arduino microcontroller and fuzzy PD algorithm is designed.The system is mainly composed of photoelectric sensor detection module,gyroscope module,infrared obstacle avoidance sensor,and motor drive module and steering system.To obtain the optimal overdone strategy,the ordinary condition judgment algorithm,fixed parameter PID control algorithm and fuzzy PD algorithm were used for test and analysis during the experiment.The experiments show that the racing car uses the three algorithms to complete the track time,which are 55 s,41 s,and 32 s,respectively.The results show that the racing car with fuzzy PD algorithm can adapt to straight road and many kinds of curves,and the speed is the fastest.