Research On Trajectory Tracking Control Of The Indoor Intelligent Car

With the development of the information age to the current era of industry 4.0 decades of development and continuous breakthrough in science and technology,Information technology,robotics and artificial intelligence have developed rapidly.As an important part of the small intelligent car plays a crucial role in the fields of transportation,logistics transportation,industrial production,military operations and extraterrestrial objects.The small intelligent car is a research hotpot in the field of control field which makes centralized use technologies such as environment perception,path planning,trajectory tracking control and other technologies,and also involves computer,muti-sensor information fusion and automatic control technologies,The wheeled mobile small intelligent car studied in this paper uses a32-bit microcontroller as the core control unit for trajectory detection,trajectory tracking,speed control and mechanism movement.Computed program design,platform development,computer simulation and real scene experiment.Since the small intelligent car is a miniature version of the intelligent vehicle,so the work in this paper is of very important significance for the promotion of the small intelligent cars from the laboratory to practical applications.The work of this paper is as follows.Firstly,the moving parts of the wheeled mobile small intelligent tracking car studied in this paper are differential rear wheels driven by double DC motors and steering front wheels driven by steering servo.The hardware system of the small intelligent car is composed of six modules,and its core controller is 32-bit STM32RCT6 single-chip microcomputer.The signals detected by the image sensor module and the speed sensor module as feedback signals for steering control and speed control of the small intelligent car to form a closed-loop system structure.The core control module,DC motor driver and other modules are powered by 12 V battery module,The linear CCD sensor module is used to extract and recognize the trajectory images,It can identify the black trajectory in the scene map and send the error signal of the deviation between the car and the trajectory to the core controller.The steering module of the front wheel steering servo adjusts the steering servo angle according to the control signal of the single-chip microcomputer to make the car track the trajectory accurately.At the same time,the control signal also controls the rear wheels double DC motor modules of the small intelligent car for differential steering,the measurement of the traveling speed of the small intelligent car is completed by the speed sensor module on the double DC motors.Secondly,the Keil ?5 C language development software is used to write,compile and debug the small intelligent car tracking algorithm based on the TSL1401 CL linear CCDimage sensor,the algorithm applies the dynamic threshold method to binarize the black and white video signals collected by the sensor.Calculated the distance deviation between the small intelligent car and the black trajectory so that the car can automatically track the target trajectory.Researched the front wheel steering servo of the small intelligent car,the position PID control method is applied to the servo.The position PID and fuzzy position PID control methods are applied to the rear-wheel DC motors respectively,and the speed sensors which connected to the motors detect the wheel speed of the mall intelligent car in real time.The sensors feed back signals to the STM32 microcontroller to make it reads the datas collected by the sensors and form the speed closed-loop control system.Thirdly,the kinematics model of the small intelligent car is constructed and the trajectory tracking strategy of the mall intelligent car is formulated.The classical PID control method and fuzzy adaptive tuning PID control method are selected.Set the input and output of the fuzzy adaptive controller,fuzzified the two quantities,formulated the membership function and the fuzzy inference rules,and finally perform the defuzzification.In the Matlab/Simulink environment,establishe trajectory tracking controller module of the small intelligent car model based on PID control and fuzzy adaptive PID control.Two kinds of reference trajectories are simulated respectively and the simulation results are researched,compared and analyzed.Finally,the experiment scene map is built in the laboratory,arranged the trajectories that the small intelligent car needs to track.Download the PID control and the fuzzy PID control algorithms to the 32-bit microcontroller,The real car tracking tests are carried out for two kinds of test tracks respectively.The experiment results show that the two control algorithms can make the small intelligent car system run in a good condition,It can realize the automatic trajectory tracking motion of the smart car.