Research On Integrated Navigation Memods In Intelligent Car

Intelligent car, is a type of mobile robot, is a comprehensive set of high-tech products in one multi-disciplinary, involving the disciplines including mechanical, mechanics, electronics and microelectronics, control science, systems engineering, artificial intelligence, etc. With the development of computer technology and sensor technology, the rapid development of robotics, have applied to industrial, agricultural, medical, rescue, etc., Research of mobile robot has become the focus of the majority of researchers and world-renowned companies. Navigation issues which have been the focus of research in the field of mobile robot and hotspot, and integrated navigation is the new trend navigation research.Intelligent car use Pioneer3-AT robot as a platform, which is produced in the United States by the company of ActivMedia Robotics. Relying on intelligent car platform, considering the experimental conditions and purposes, cost, etc., the GPS/DR integrated navigation solution is determined as a navigation scheme in this paper. The smart car navigation (localization, path planning) conducted in-depth study, the study main contents are as follows:In the actual integrated navigation study, the first question facing is where I am (location). Both GPS navigation and dead reckoning navigation (DR) have the respective defects, in order to improve both accuracy and recovery of the defect, the combination of two ways to achieve the complementary. Centralized Kalman filter structure, using of the extended Kalman filter algorithm to fusion positioning, algorithm performed, simulation results show that the algorithm filtering effect is good, can make up for both defects, to meet the design requirements.Having the location of the intelligent car itself, in the case of obstructions, itself how to drive safely, without collision, effectively and speedy arrival. The second problem of navigation: How do I get there?(obstacle avoidance and path planning), this strategy focuses on the path planning and obstacle avoidance methods, comparing to many methods, determining to use the structure of the behavior thinking, fuzzy control is the control method of path planning in intelligent car. In the Matlab, simulate path planning, comparing artificial potential field method and fuzzy control, to prove the feasibility and effectiveness of the proposed algorithm.The purpose of Location is to achieve navigation, so develop a track record positioning software in the Pioneer3-AT platform, displaying location path. While the path planning algorithm ported to the smart car platform, a running experiment works well, can successfully avoid obstacles, reach their destinations safely.