Research On Control Method Of Intelligent Vehicle Trajectory

Smart car, also known as the wheeled robot, is a mobile robot. It is widely used in modern logistics distribution system. The performances of the smart car are mainly reflected in:the accuracy, stability, and real-time of path identification and path tracking during the operation of the smart car. Therefore, it has practicable meaning to research on improving the accuracy, stability, and real-time of path identification and path tracking.In this paper, It built a hardware circuitry of the smart car, which uses MC9S12DG128B as the control core and it includes the power management system, road detection devices, speed detection devices, DC motor and its driving device and servo-driven devices. It uses infrared photoelectric sensors to collect information of the road and inputs the information of the road to the CPU. Then it uses PWM to control the driving motor and servo after analyzing and judging of the CPU.Control algorithms play a key role in improving the accuracy, stability, and real-time of path identification and path tracking. In this paper, It uses Fuzzy-PID control method to control the speed of DC drive motor, and compares the Fuzzy-PID with the PID control by using MATLAB. The simulation results show that Fuzzy-PID control not only solves the problem that accuracy of the fuzzy control is not high, but also solve the problem that the anti-interference of the PID is poor. It makes the stability and anti-jamming of the smart car better. It uses fuzzy control algorithm to control servo of the smart car. Simulation results show that fuzzy control algorithm can make a very good output signal to track the input signal, and meets the requirements that the accuracy, stability, and real-time of path identification and path tracking when the input is sinusoidal signal.