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Experimental Platform Establishment and Research on Control Algorithm of Tracking Line Smart Car

Author: PengXiaoLei
Tutor: LiJiuSheng
School: Harbin Institute of Technology
Course: Electrical Engineering
Keywords: AGV Smart car Fuzzy Control Path tracking
CLC: TP242
Type: Master's thesis
Year: 2011
Downloads: 149
Quote: 2
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Abstract


In recent years, the AGV (Automatic Guided Vehicle, automated guided vehicle or automatic guided vehicles) has become a hot spot of extensive research in the field of domestic and foreign mobile robot, path tracking control is one of the problems of the the AGV main research. Most domestic scholars through the line smart car is also an AGV. Tracking control algorithm, the research car's path, many scholars merely establish the car's steering model and rear wheel motor model and simulation using Simulink toolbox. The disadvantage of this approach is not intuitive, it is difficult to simulate complex runway. To follow the line of the path of the smart car tracking problem for the study, designed and implemented a smart car experiment platform, and this platform is based on the car's path tracking control carried out in-depth research. Smart car simulation using MATLAB software platform and build a car PC monitoring system is an innovation of this paper. First, the in research car kinematics model based on, using MATLAB software simulation platform through the line smart car, make full use of the data processing capabilities of MATLAB software and GUI (Graphical User Interface, the graphical user interface) visual advantage study smart car path tracking technology, greatly improving the efficiency. Secondly, the establishment of a the PIC16F877 microprocessor smart car hardware experimental platform and the smart car PC monitoring system based on LabVIEW software. During real vehicle test, you can run through the the upper computer monitor car status, acquisition speed, steering gear corner and deviation data, to facilitate the control algorithm analysis and adjustment. In addition, through the host computer can send start and stop commands to improve the safety of the car running. Again, based on the analysis of the kinematic model of the car, the design of a the rear dc motor speed PI controller steering PD controller and steering fuzzy controller as well as the speed of a given fuzzy controller, and the smart car software platform simulation. Steering PD controller and steering fuzzy controller through the simulation results are analyzed and compared, fuzzy controller as a steering controller. Finally, the preparation of a control algorithm PIC16F877 C language code, experimental platform to do the real vehicle test validated simulation platform and path, through the analysis of experimental data analysis to track the effectiveness of the control algorithm.

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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