Design And Implementation Of The Intelligence Two-wheeled Self-balancing Obstacle Avoidance Car

Upright racing of inverted pendulum is the self-balancing two wheeled mobile robot,which belongs to the category of wheeled mobile robot,and it has a simple structure,flexible movement,low power consumption,good speed performance,can adapt to different working environments especially in a confined space motion and other features,which make it in military and civil application prospect is extensive.This thesis is based on the Freescale smart car contest,using the Freescale's MK60N512VLQ100 chip as the master control chip research and development of upright racing inverted pendulum system based on video navigation,the system has the characteristics of self standing,automatic recognition path.First of all,this thesis reviews in detail on the basis of related literature both at home and abroad,present,and presents the two wheeled of self-balancing robot development present situation and research trend,and then the inverted pendulum system capable of walking upright task decomposition,analyzes the working principle of the whole system,and based on this proposed overall program design and each module hardware circuit design.Secondly,in the posture detection of gyroscope and accelerometer output signal that data fusion Complementary filter,compensation gyroscope points accelerometer drift error and dynamic error,resulting in a better approximation of body tilt.Thirdly,according to the characteristics of black color image data,image data of gray values collected from the camera smoothing filer,then a binary image processing dynamic threshold segmentation by region,and binary image obtained after filtering again the less noise image data.After a good image-based processing path edge extraction to obtain information on road conditions and curvature angle,the normal operation of the system provided.Fourthly,the force analysis was carried out on the two-wheel car.And by building a mathematical model of a DC motor,the transfer function of controlled object was derived.Finally,by analyzing the advantages and disadvantages of the traditional PID and fuzzy control,fuzzy PID control strategy is derived.Using three fuzzy controllers tilt,turn,and speed are controlled by adjusting the parameters,the vehicle body can running smoothly at a high speed,And it can avoid the obstacles automatically at the same time.