The Design Of Two-wheeled Self-balanced Intelligent Vehicle Based On Visual Navigation

The two-wheeled self-balanced intelligent vehicle based on visual navigation isdesigned on the basis of the inverted pendulum model, and is one kind of the intelligentvehicles, as a product of the development of modern society, it has played a great role in allfields the of productions of human life. Since the characteristics of flexible movement,simple structure, small volume and small steering radius, it is widely used in many scientificresearch task and practice of life, for example it is used in space exploration, terrainreconnaissance, clearing, etc. The two-wheeled self-balanced intelligent vehicle based onvisual navigation has characteristics of multi-variable input and multi-variable output, so itis a comprehensive technology of control theory, mechanical design, software programming,electronic technology and other disciplines, because this kind of intelligent vehicle varietyat the same time which make it to be suit for verify many kinds of control algorithms, so ithas important theoretical significance in the study of control theory. After years of research,the two-wheeled self-balanced intelligent vehicle based on visual navigation has maderemarkable achievements, and related technology has been relatively mature.The paper expounds current research situation of the development of the two-wheeledself-balanced intelligent vehicle based on visual navigation home and abroad. Some existingtechnical problems are put forward, at the same time, combined with the existingtechnology and on the basis of the existing model, design an two-wheeled self-balancedintelligent vehicle based on visual navigation. This paper introduce detailed the overalldesign plan, the content of the machinery, hardware, algorithm, etc. Firstly, the intelligentvehicle’s overall composition are introduced, including parts of the body, a CCD camera,battery, the control unit, accelerometer and gyroscope, speed sensor and so on. Function ofvarious components are introduced in detail; then the paper introduce the design of thenavigation part of the visual, using CCD camera to road path identification, according to thealgorithm of control motor speed, direction and speed control after the control unit imageprocessing, focuses on image analysis methods and control strategies CCD camera; thenintroduces self-balancing intelligent vehicle control section, which mainly include systemmodeling, two-wheel balancing system to build a dynamic model and kinematic model of two-wheeled self-balancing system from the main based on Newton’s laws of mechanicsand Lagrange dynamics equation is established,In the paper the intelligent vehicle is assumed in a flat road, and the model is verifiedcorrect after the simulation experiments. The two-wheeled self-balancing system controlstrategy is introduced in the last, this paper adopts PID closed-loop feedback controlprinciple, the motor control strategy should be considered intelligent vehicle upright,steering and speed control, the accelerometer and gyroscope are used to measure variables,at the same time analyzed the intelligent vehicle vertical control, steering control and speedcontrol algorithm, part of the program are given in the paper, finally the parameters aredebugged and the system achieve the optimal configuration.