Research On Design Of Intelligent Vehicle And Its Path Planning

With the development of Internet of Things technology (ITT), the use of large warehouses has become increasingly popular. The routine inspections of warehouses are a complicated thing, so this paper focuses on the design of an intelligent vehicle specially used for this task.The basic requirements of the design of warehousing intelligent vehicle and the characteristics of various path planning were considered. This paper introduces a design of warehousing intelligent vehicle based on PIC singlechip and stepping motor, use the grid method to establish the global work environment map, use the A*algorithm to search the travel route, and use wireless sensor networks to determine the position information of the intelligent vehicle, finally completion of the inspection work. The main research works includes:(1) Through the investigation and study the characteristics of ultrasonic, RF signals, wireless sensor network and the various methods of route planning. Considering the stability of the system, the cost of cost, simplicity and planning efficiency and so on. Put forward a simply effective path planning for intelligent vehicle based on wireless sensor network.(2) Proposed a simpler and effective route search method. The intelligent vehicle can fast search out of a route from start to the end which meet all requirements, using grid method to build the global map and using the A*algorithm to search the route after the map building.(3) Improved the A*algorithm, the improved algorithm can effectively reduce the probability of collision error of the intelligent vehicle and cargo, let the path more reasonable and let the intelligent vehicle is controlled easier.(4) The intelligent vehicle is designed and produced based on PIC, the two driving wheels are controlled by stepping motor. The motor control module is composed by L297and L298. The intelligent vehicle get avoid obstacle and precise positioning function. Through research on stepping motor subdivision, designed and tested the subdivision method.(5) A kind of wireless sensor network is designed in this paper which is based on ultrasonic and RF modules. This network using ultrasonic ranging, using RF synchronous transmit data information. Comprehensive the information comes from many nodes. Using trilateration to process all information and get the location information of the intelligent vehicle.