Design And Implementation Of Intelligent Vehicles Based On Mobile Sensor Nodes

Intelligent vehicle oriented by mobile sensor nodes is an integrated system which integrates intelligent driving,surrounding environment data collection and path planning.This kind of intelligent vehicle can handle multiple road conditions and it's less restricted by environment.It can realize the function of environmental data perception in the environment where it's not convenient or possible for people to get into.The platform of intelligent vehicle oriented by mobile sensor nodes is established in this article,which aims at collecting surrounding environment data quickly.The collected data is transmitted to upper monitor so that the data can be observed and analyzed.This intelligent vehicle platform supports several basic functions of single vehicle,such as barriers avoiding,path tracking and master following.The data acquired by the camera is also processed in this platform.Meanwhile,the platform supports the network combination of several intelligent vehicles so that the upper monitor can control the vehicles intensively.The main work of this article is as follows:(1)Firstly,the design scheme of the platform is concretely elaborated.According to the application requirements and selected module characteristics,this platform is designed as the combination of 51 SCM central control system and ARM embedded image processing system.The hardware part of the platform is realized by 51 SCM central control system and ARM embedded image processing system.The hardware circuit design of each module,the performance parameters and the working mode selection are described in detail.The interfaces of each module are also described.(2)Secondly,the software part of this platform is divided into SCM central control program,upper monitor communication program and ARM image processing program,so that the control of the vehicle,the communication between upper monitor and SCM and the image processing can be realized.(3)Then,the practical.application value of the intelligent vehicle in path planning is further discussed based on the establishment of the platform.Based on the verification of Ant Colony Optimization and Artificial Potential Field path planning algorithms,several improvements are proposed and verified by MATLAB.The improved Ant Colony Optimization and Artificial Potential Field path planning algorithms are combined so that a new path planning algorithm based on them is proposed and verified by MATLAB.(4)Finally,a theoretical scheme based on the new algorithm is proposed.The current location of the vehicle is calculated by the angular velocity and linear velocity sensor,and the current road condition feasibility is guaranteed by KS103,so that the current coordinate of the vehicle can be uploaded to upper monitor continuously.The path is constantly revised by the current coordinates and destination coordinate,and the new path will be downloaded to the SCM system,so that the intelligent vehicle can be guided to the final destination.