Autonomous Guided Vehicle Navigation System Design And Implementation On Model Car

Based on the understanding of domestic and overseas research of autonomous guided vehicles, Hardware platform and debug methodology is designed in this paper, includes implementation of the detection and control algorithm. Both theory analysis and engineering problems is discussed, related experiments for some must-have analysis and model building is proposed in the paper. Combined with hardware design, proposed a new image acquisition method that can dynamically reduce the lag in the control loop, thus lower the cost of controller and improved performance. Based on experiments and analysis, designed a two-layer control model. Designed a multimode speed controller based on the means of optimization control. Turning model is also given. Start line detection array discussed in this paper can do the calculation only on demand and don't have to do the calculation all the way through the race. This dynamically reduce the computation. A road memory algorithm is also given which can separate the road with straight lines, this allows the car to run faster in the second lap. At the mean time, TLC method are also discussed in this paper.