Research And Development Of The Intelligent Automobile Based On Fuzzy-PID Controller

There are many manual mode of operation in most dangerous environment of industry scene at present.because of high dangerous, low safety and so on,it leads to the research and development of intelligent automobile.AGV is increasingly widely used as the key equipment in automatic logistics sustem and flexible manufacturing system.intelligent automobile is based on chip of FREESCALE MC9S12DG128 ,it includes automatic recognition and finished special function,which is simple and applied,lower requirement to hardware and has the capability of adapting existing structured road environment.The core problems in all subjects on vision-guided technology are how to improve the accuracu. stability and real-time capablitity in path identification and path following,the scheme is based on chip of FREESCALE MC9S12DG128,aims at discussing the methods of improving the accuracy,stability and real-time capability in path identification and path following. the main contents are listed as follows:(1)Set up the hardware system of vision-guided,controller system of intelligent automobile(2)According to the features of image shot and errors required including lateral error and orientation error,the image including numbered lines data in the middle are extracted out od source image and then is processed to acquire lateral error and orientation error.this way not only ensures the accuracy of errors acquired but also greatly reduces computing time as well as greatly improves the real-time capability.(3)The scheme reseach on unknown external environment,intelligent automobile use the FUZZY-PID control tactics,the race time is shortterand speed curved shape are more Smoothness.The intelligent automobile device mentioned in this paper is novel from the angle of collectivity scheme and design idea. The result indicates the scheme satisfies the based request of the accuracy,stability and real-time capability.