| With the rapid development of science and technology,automatic follow function is widely used in daily affairs,work and military aspects.Automatic following technology has brought about rapid changes in people's lives,such as automatic following suitcases with free hands,automatic following umbrellas,automatic following shopping carts,following AGV of increasing factory efficiency,automatic following drones picturing,and automatic cars of following soldiers on foot.Based on the research background of solving the problem of infantry forward overload,this project design and develops a vehicle system which can load and automatically follow the target function.The main contents are as follows:The requirement analysis of the automatic target following function of the vehicle is carried out.Combining with the practical application subject,the driving force,torque,motor speed and battery power of the whole vehicle are calculated and designed by the kinematics and dynamics model.The selection of motor and electronic control is carried out,and the experimental vehicle system is built.Two automatic following methods,wireless following based on carrier-less communication UWB technology and wired following based on rope displacement sensor,are studied.The stable range and azimuth information are obtained by sliding window filtering and Kalman filtering.And motion instructions are generated.The research and implementation of the vehicle controller VCU with the function of target auto-following and the hardware design and software development of VCU has been studied and realized.Finally,the actual system experiment is carried out.VCU realizes the driving and steering control of the vehicle and the real-time monitoring of the vehicle status.The vehicle can automatically follow the target and meet the requirements of the subject. |
