Research And Realization Of The Intelligent Vehicle Based On The Electromagnetic Navigation

Intelligent vehicle is a high-tech product as a wheeled robot with the function of "understanding".At present, the research of intelligent vehicles are carried out in full swing. Automatic driving intelligent vehicle is beening developed rapidly as a research direction.With the proposal of the Made in China 2025, the government will promote the investment and development of this area.Through the research on the intelligent vehicle technology, it will bring a broader application prospect.In this paper, according to the Freescale Cup National University Students intelligent vehicle race,a kind of electromagnetic autonomous navigation control system of intelligent vehicle had been designed,which completed automatical driving stably and fastly on the track.In terms of hardware in this paper, the overall analysis of the system was fulfilled firstly, and then the details was analyzed. The available space for hardware design was determined by the given models.The control system based on Freescale 32-bit microprocessor MK60FN1MOVLQ15 as the kernel control module.The system determined the available space which can be arranged for hardware design to choose the right components as the main control chip peripheral circuits to complete the production of hardware system. The model was built through the various hardware modules.After a lot of trials and commissionings, the paper completed the optimal adjustment of the mechanical structure of the car.In terms of software,this paper did in-depth analysis and research in terms of the principle of electromagnetic navigation and then proposed the electromagnetic induction algorithm which used four coil sensores.The algorithm calculated the offset position using the curve fitting legal,which was verified by experiments in high precision. This paper used the incremental PID algorithm to control the servo,parameters of which were tuned through a lot of practices.The algorithm simulated tracking curve simulation and the result showed it had a good adaptability.For the speed control,the adaptive control algorithm of Fuzzy-PID control was proposed on the basis of the traditional PID control,which was verified by simulation and comparison.Through the comparison, we can see that the Fuzzy-PID control has the advantages of smaller overshoot, faster response and better stability and it has outstanding performance under the complex path.Using the software development platform IAR downloads the program to the microprocessor to test on the track.Through the data, it is also verified that the Fuzzy-PID control algorithm has high accuracy and good robustness.