| Intelligent vehicle is one of the most active research areas, but because the cost of real vehicle test is high, the organization is difficult and other shortcomings, in this paper, we choose microfilm car that run in the microfilm traffic environment as the object of this study. In this paper, the microfilm car realizes autonomous tracking and obstacle avoidance, which takes MC9S12XS128 as controller and is equipped with linear CCD, ultrasonic ranging sensor and other devices.In the acquisition of road information, because of the large voltage difference between the white road center line and the black background, we processes the data collected by linear CCD with binaryzation algorithm to get the position of white road center line, then we can know the location of microfilm car relative to the road. In the acquisition of obstacle information, according to the distance between obstacle and microfilm car measured by ultrasonic ranging sensor, we can know the location of microfilm car relative to the obstacle.On the basis of the analysis of microfilm car’s position information, we adopt fuzzy control algorithm to control microfilm car’s steering by designing good control rules,. We adopt incremental PID control algorithm to control microfilm car’s speed, the speed control system is a closed-loop control system, the negative feedback is the current rate collected by photoelectric encoder.We compile software system program, and then experiment on microfilm car in microfilm traffic environment, achieve good autonomous tracking and obstacle avoidance function. |
