光电导航智能小车双边寻迹系统设计

设计了一种基于光电导航的智能小车双边寻迹系统.在硬件方面,路径信息采集模块由上排、下排和前排三部分构成,上排由伺服舵机带动跟线检测,下排进行辅助寻线,前排用于检测起止线和坡道.针对双边轨迹,上、下排激光管采用八字型排布,分时点亮并加载方波调制,接收管接收返回信号.在软件方面,采用轨迹分析算法正确预判路况,同时结合模糊自适应PD控制器控制舵机,实现小车快速转向.实际测试智能小车以2.6m/s的平均速度稳定行进,表明了该方案的可行性.

Design of Bilateral Tracing System in Intelligent Photoelectric Navigation Car

Based on photoelectric navigation,the bilateral tracing system in intelligent car is developed.On the hardware,path signal collection module is composed of three sections,including top row,bottom row and front row.The top row is driven with line direction by servo,while the bottom row carries out on auxiliary tracing.And the front row is used to detect start-finish line and ramp.Aiming at the bilateral track,laser tubes of the top and bottom row are arranged like ‘/V.Time-sharing lightening and square-wave modulation are adopted,and receiving tubes receive reflected signal.The software adopts the track analysis algorithm to prejudge road condition correctly.In addition,a fuzzy self-adaptive PD controller is applied to control servo for rapid turning.Experimental results show that the intelligent car can run steadily by 2.6m/s,it indicates that this strategy is feasible.