Design And Research Of Intelligent Vehicle Based On Andrews System

The research of Smart Car belongs to the field of mobile robots, which is a high integrated technology and can be seen as measure of the national research capabilities and the industry levels. This research involves many subjects, such as communication technology, artificial intelligence technology, computer technology, control science and engineering etc. In recent years, with the rapid development of the technology concerning Smart Car, the Smart Car has gradually tended to be modular, generalization and intelligent situation. In the future, the development of the Smart Car should be promoted by the coordination of civil, commercial and military. So, the research of the key technology of Smart Car is extremely important.In this paper, a networking Smart Car based on Android is designed by the wireless control. The main designs of hardware, slove-computer software, host-computer software on Android system are given, and some problems about the principle of differential drive, kinematics model, path planning and the control of machinery arm are discussed.First, the physical and working principle structures are given according to the needs of design. The hardware designs have some steps. The PCB diagram is obtained by schematic design of this project with Altium Designer, and some subsequent perfect designs are needed. With the hand soldering, we can get the system main control board.Then, the software system, the core technology in the Smart Car system, is designed. In the designed main control board, slove-computer software is designed and debugged using Keil uVision. Then, host-computer software on Android system is designed and debugged. Finally, the completed designs of hardware, slove-computer software and host-computer software are integrated debugged.Next, this paper analyzes the kinematic model and differential drive principle for the designed platforms. Modeling the free model of space obstacle parameterization, simulating via genetic algorithm path planning and the implemented way via genetic algorithm are given.Last, a robust controller, which can suppress the influence of external disturbances and model error caused, is designed for the smart car manipulator trajectory tracking problem. And a numerical example is given to demonstrate the effectiveness and applicability of the proposed method.