| Unmanned Cruise Vehicle(UCV)is one of intelligent vehicle,which involves of navigation technology and path tracking technology is the frontiers of research fields.As UCV is an important platform to lead the development of vehicles in the future,more important which is also the research hots pot in the developed countries,so UCV will have broad prospects in the field of intelligent transportation in the future.With the development of intelligent hardware such as gyroscope,navigator,sensor,UAV flight control technology is gradually mature,the UAV flight control technology applied to UCV for improving that of perception for the environment,and applied UVC to the campus,not only can achieve automatic cruise,but also improve the campus security and intelligent management.Based on the remote control model car,this paper studies the following aspects:First of all,through the design of the overall structure of the campus unmanned cruise vehicle,and introduced the components of the campus unmanned cruise vehicle and the key components.Secondly,a two-degree-of-freedom model is established for the campus unmanned cruise vehicle,the motion process is analyzed and the sideslip angle motion equation is obtained before and after the unmanned cruise vehicle,the path tracking controller is designed,and the feasibility and effectiveness of the path tracking control is verified by MATLAB / Simulink simulation.Finally,through the analysis of the principle and structure of APM flight control system,the paper designs the connection way of the APM flight control technology to the power system,control system,executing mechanism and driving system of unmanned cruise vehicle,so that the unmanned cruise vehicle can cruise automatically along the preset trajectory of GPS.And through the introduction of the various parts of the debugging method,the campus unmanned cruise vehicle is successfully driven according to its intended trajectory and analyze the cruise data. |
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