The Research Of Mobile Monitoring Platform System Based On Fuzzy Control

With rapid development of modern science and technology,robots have gained more attention nowadays and been applied in various industries.Smart cars,also known as the wheeled robots,are favored because of its better automatic guidance function in the automated logistics delivery.We created a new type of smart car equipped with mobile monitoring platform based on embedded technology,video transmission technology,wireless network communication technology,real-time monitoring system and WIFI technology.This novel and multi-functional smart car can not only view real-time operation route and the environment,but also replace human to complete many complex work in harsh environments.We hope that the mobile monitoring platform we designed to be good at path tracking and identification with high accuracy and stability,therefore further research and optimization of our mobile monitoring platform is with great practical significance and wide application prospect.In this paper,a mobile car with real-time monitoring function was developed,and mobile monitoring platform was further improved through optimized control algorism.In addition,the rear wheel motor was used to control the turning of the car and an accurate and real-time identification of pathway was achieved.Main tasks in this design include:1.Build the hardware design of mobile platform,the kinematics model using ARM processor s5pv210 chip Cortex-A8 series,written in path recognition module,motor and servo driver module,speed detection module and other procedures.2.Configure the Mjpg-streamer video server through the wireless router LAN,Android mobile device as a client to WIFI access to car camera,get the collectedcamera images to complete the function of real-time monitoring,enhance the practicability and flexibility of the system.3.Based on the research of control algorithm,the algorithm is improved on the basis of traditional control algorithm.Because of the complexity of the path tracking system and uncertainty,so this paper gets rid of the limitations of traditional control,path selection in information analysis on fuzzy control algorithm based on fuzzy control theory,aiming at the mobile monitoring platform of this paper,the design of fuzzy controller,with a certain degree of innovation,which can work according to the expert experience and repeated experiments without the mathematical model of the object.The processor through the acquisition of road infrared photoelectric sensor information,according to the deviation between the car and the black line analysis algorithm,the control signal is sent to the steering gear and motor drive module,the steering gear and differential motor coordination control the angle and speed of car.Through the introduction of fuzzy control algorithm,the mobile monitoring platform has good accuracy,stability and real-time in the identification of the path and tracking path.4.For the unstable problem of car running process,This paper improves the basis of traditional control PID control,the incremental PID control,and the fuzzy PID algorithm and the speed closed loop control optimizes the speed,new in speed control scheme,and compared to the traditional PID control is verified by Matlab simulation using incremental PID control and fuzzy PID control of the advantage of speed control.The utility model has the advantages of high control precision,fast response speed,etc.the utility model has the advantages of fast,stable and high efficiency.5.The mobile monitoring platform developed in this paper has certain innovation in design scheme and algorithm thought.Based on the operation state of the black line on the car,performance accuracy,stability and speed control using fuzzy algorithm in path recognition on the car has improved,according to the corresponding theoretical basis the basic function of the realization.