基于激光传感器的自动巡迹智能车控制系统

本智能小车控制系统以MC9S12G128控制器为核心,利用一排18个激光发射管与6个接收管作为路径识别传感器,通过MC9S12G128的I/O口获得传感器信号,并利用特征提取方法提取赛道类型,实现起跑线、十字交叉线识别。根据道路信息,采用模糊控制算法输出PWM波形来控制舵机的转向,完成对小车的方向上的控制,采用光电编码器提取小车速度,经过与当前设定值进行比较得到速度偏差,采用PID算法计算并输出PWM脉冲来控制电机调节小车速度,完成对小车运动速度的闭环控制。实验验证,该系统达到了预期设计效果。

Automatic Tracking and Intelligent Vehicle Control System Based on Laser Sensor

The intelligent car control system took MC9S12G128 controller as the core, and used a row of 18 laser emission tubes and 6 receiving tubes as the path recognition sensors, and obtained the sensor signals through the I/ O port of the MC9S12G128, and extracted the track type using the feature extraction method to achieve the starting line, cross-line recognition. According to the road information, it used the fuzzy control algorithm to output the PWM waveform and control the steering of the steering gear, and completed the control of the steering wheel, and then extracted the speed of car by photoelectric encoder, and obtained the speed deviation by comparing with the current set value. It calculated and output the PWM pulse to control the motor to adjust the trolley speed, and completed the trolley movement speed the closed-loop control. Through the experiment, the system achieved the expected design effect.