Research On Implementation Of Intelligent Competition Car

This thesis, taking intelligent competition car as the research object, focuses the research work on path identification, path tracking and the system implementation. In the aspect of mechanical system design, the adjustive methods of mechanical and structure parameters are discussed according to automobile technical theory, such as caster angle, kingpin inclination, toe-in and camber of wheels. Meanwhile, the calibrated method of steering system is discussed in order to make two front tires achieve accordant turning. In the aspect of the hardware design of control system, hardware selections , interface circuits and installing pattern for the power module, path identification module, velocity measurement module and driving module are designed. In the aspect of software design of control system, the road identification and tracking algorithm and mathematic modeling of control algorithm for car body are studied.The main contents and contributions of this thesis are as follows:(1)In order to overcome the interference of environmental light to the infrared emitting diode and photodiode, a filtering circuit is designed. The circuit is of the little power consumption, and the better working stability, and the better characteristics of identifying path and anti-jamming, and the adjustable detecting range and sensitivity.(2) By the research on path image data acquiring and processing, based on the principle of binarization algorithm, left edge diction algorithm and tracing edge algorithm, an improved binarization algorithm is proposed. The algorithm is a skew detection method of the camera and effective for the de-noising processing of image data, and it has , and it has strong properties of robustne and can extract precise data of path feature points.(3) By the research on the parameters self-tuning fuzzy-PID control algorithm, which is based on the image data of the path shape and adopted in adjusting the direction of the servo motor and the speed of the car, the mathematical models of the PID control algorithm is proposed, which can be used to adjust the running direction and the speed of the modern intelligent vehicles.(4) The design and manufacture of all the softwares and handwares are finished for the intelligent competion car of our university.