The Design And Development Of Four-wheel Intelligent Vehicle Platform

With the development of the computer technology, modern electronic technology, artificial intelligence technology,automatic control technology and the information technology and the cross and integration of multidisciplinary field, the intelligent robot technology rapidly expands and extends and intelligent robot products are growing roles in human various aspects of life. As education and scientific research institutions, to develop a low-cost and intermediate intelligent robot experiment platform with strong environment adaptiveness and meeting the demand of a variety of functions is imperative.In view of the poverty and the deficiencies of openness and extensibility of the existing intelligent robot development platform, a four-wheel intelligent vehicle platform is designed and developed based on the application example of intelligent wheelchair. The mechanical structure and the software and hardware system is designed and built fully considering and implementing to the openness and extensibility of the underlying drive and control details to provide users with an intermediate experiment platform of intelligent mobile robot with an open and scalable hardware and software system.The whole platform design mainly includes three parts:(1)Mechanical parts employs the Pro/E to design the3D models of all the parts and assemble the3D rendering of the vehicle and make use of AutoCAD to design some machining parts in detail to guarantee the mechanical design and manufacturing processes with accurate data transmission and the seamless connection of the mechanical structure.(2)The hardware platform provides rich interface resources using micro-controller STM32F103VET6whose resources of the hardware are extended as far as possible to ensure that the hardware platform is extendible and facilitate for the realization of various functions.(3)The software platform includes the hypogyny machine software and PC epigyny software:hypogyny machine software takes STM32F103VET6micro-controller as the core and transplants μC/OS-Ⅱ embedded real-time operating system, using the RealView MDK development suite and the C high-level language to design and write various interfaces and functions; PC epigyny software is based on Windows operating system and uses VC++and Matlab mixed programming to provide some required application test and control softwares for system development.Particularly, in terms of mechanical structure, the double degree of freedom seating posture adjusting mechanism is designed creatively. And on this basis, a double degree of freedom attitude control system based on PID control is designed and implemented, and the effectiveness of the system is verified through the simulation experience.