Man-small Crawler Unmanned Vehicle Control System Design And Implementation

Against the background of the development of the Unmanned Vehicle in this paper, a prototype model of the Individual Unmanned Vehicle is developed to carry out a number of tasks. This prototype model consists of the system of vehicle control, the system of combat command, the system of communications and the system of command and control. The research and the design of the system of vehicle control is the focus of this paper.In this paper, Firstly, the motion control model of the vehicle is analyzed. According to the functional requirement of the vehicle, the overall structure and the control program are proposed, as well as the communication protocol between the system of vehicle control and the system of command and control. Secondly, the hardware function of the system of vehicle control is briefly analyzed. The basic characteristics of the GPS positioning and inertial measurement unit used in this system are introduced, and the data analysis is also included. And the hardware and software function of the ultrasonic unit are designed. Finally, according to the combination of the requirements and the device driver of the system of vehicle control, the application program is designed and realized.Based on the hardware and software of the system of vehicle control, device driver, ultrasonic unit, the basic movement and obstacle avoidance are tested, and the debugging results show that the system of vehicle control runs well, and achieves the desired results.