Wheeled Machine Car Based On Calman Filter Algorithm Research On Intelligent Control

With the continuous development of computer,control theory,image processing and AI technology,the development trend of wheeled machine car has gradually become an intelligent way.Wheeled robot is a branch of intelligence field.Most of them are applied in indoor environment.Compared with the outdoor environment,the experimental results are more stable and the complexity factors are greatly reduced,which has attracted wide attention from experts and scholars all over the world.First,the demand analysis of control system on wheeled machine car on the basis of the overall hardware structure of the control system was designed,and the hardware components selection,functional modules of the circuit design and use Altium Designer to draw the PCB circuit board.The hardware circuit includes main control chip STM32F407 minimum system,main control power supply circuit,network communication circuit,motor drive circuit,GPS positioning circuit,CAN communication circuit and infrared induction circuit.A new type of overvoltage protection circuit and infrared induction circuit are proposed.Secondly,the paper studies the motion control algorithm of wheeled vehicle,mainly for the robotic arm grasping the object to carry out the research of Calman filtering algorithm,which effectively improves the accuracy of grasping objects.According to the actual demand of grabbing,we set up the Calman filtering equation set,and put forward a new method of combining the coordinate separation and Calman filtering algorithm to improve the classical Calman filtering algorithm.Thirdly,on the basis of the design of the hardware circuit and the study of the control algorithm,the software design of the control system is carried out in this paper.This paper focuses on the overall function structure of the software system,and designs the underlying driver and the application layer program.The underlying driver mainly includes the bottom configuration of the system clock,the bottom configuration of the serial port,the bottom configuration of the GPIO,the bottom configuration of the CAN and the bottom configuration of the timer and the PWM.The application layer of the system mainly includes the while main program,the system interrupt subroutine,the GRPS communication program,the GPS positioning program and the arm execution grabbingaction program.Finally,the experimental simulation is carried out through the experimental platform.The transmission and acquisition images are transmitted through CANTest to simulate CAN,and GPRS Internet communication data and GPS positioning data are collected through serial assistant.Combined with MATLAB image processing,the collected image information is analyzed by coordinates,and the Calman filtering curve is generated.