Experimental Platform Establishment And Research On Control Algorithm Of Tracking Line Smart Car

In recent years, AGV(Automatic Guided Vehicle) has become the hotspot of domestic and foreign mobile robots field, and path following is one of the problems on AGV research. At present, the tracking line smart car which most scholars are researching on is also an AGV. When researching on path following algorithm, many scholars only establish the steering model and rear motor model, and do simulation by using Simulink toolbox. The disadvantages of this approach are not intuitive and difficult to simulate complex road. This paper is to set the problem of path following of the smart car as the research object, and the experimental platform of the smart car is designed, realized, and based on this platform, the path following of the smart car is deeply studied. Establishing simulation platform by using MATLAB software and PC monitoring system are innovations in this paper.Firstly, based on kinematics model of the smart car, the simulation platform of the smart car is established by using MATLAB software, and makes full use of the advantage in excellent ability of MATLAB software data processing and GUI(Graphical User Interface) visualization, and the efficiency in the studying of path following technology of the smart car is improved greatly.Secondly, smart car hardware experimental platform with PIC16F877 as microprocessor and PC monitoring system based on LabVIEW are established. When doing the real vehicle test, we can monitor the state of the car by using computer to gather the data of velocity, steering angle, error and so on, which is convenient to analysis and adjust the control algorithm. In addition, we can improve the safety of car running by computer sending starts and stops command.Thirdly, by analyzing kinematics model of the car, speed PI controller for rear wheel DC motor, PD controller and fuzzy controller for steering, and fuzzy controller for speed given are designed, and a simulation is performed on the simulation platform in this paper. The fuzzy controller is choused as steer controller by analyzing and contrasting the simulation results.Finally, the control algorithms are written in C language code on PIC16F877, and the real car experiment is done on the experiment platform. The rationality of the simulation platform and the effectiveness of the path following algorithm are verified by analyzing the experiment data.