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智能车路径识别及控制策略的研究
引用本文:刘林,孙冬梅.智能车路径识别及控制策略的研究[J].机床与液压,2012,40(13):82-84,113.
作者姓名:刘林  孙冬梅
作者单位:南京工业大学自动化与电气工程学院,江苏南京,211816
摘    要:以"飞思卡尔杯"智能车比赛为应用平台,以微控制器MC9s12xs128为核心单元,设计一套通过激光传感器实现路径识别的智能寻迹小车系统,利用模糊算法和过滤处理找出路径位置和方向,采用PD控制策略对小车运行进行控制。硬件设计包括信号调理电路、电源和电机驱动的设计等。实验结果证明,按该方案设计的智能车能够快速稳定运行。

关 键 词:智能车  激光传感器  路径识别  模糊算法  控制策略

Study on Path Recognition and Control Strategy of Intelligent Vehicle
LIU Lin , SUN Dongmei.Study on Path Recognition and Control Strategy of Intelligent Vehicle[J].Machine Tool & Hydraulics,2012,40(13):82-84,113.
Authors:LIU Lin  SUN Dongmei
Affiliation:(School of Automation & Electrical Engineering,Nanjing University of Technology,Nanjing Jiangsu 211816,China)
Abstract:Taking the freescale’s intelligent vehicle as the application platform,adopting microcontroller unit MC9s12xs128 as the core processor,the tracking system of an intelligent vehicle was designed by making use of the laser sensor to realize the path recognition.The fuzzy algorithm and the filtering processing were adopted to find the path position and direction.The PD control strategy was used to control the vehicle.The hardware design included the circuit board production,the design of the laser sensor,the power design and the motor driver part.The experimental results shows that the intelligent vehicle designed based on this scheme can run fast and steadily.
Keywords:Intelligent vehicle  Laser sensor  Path recognition  Fuzzy algorithm  Control strategy
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