全自主移动车辆控制系统研究  

Research on the Control System of the Autonomous Vehicle

作　　者：千应庆[1] 王晓锋[1] 李铁 聂文琪 

机构地区：[1]南京理工大学,江苏南京210094 [2]上海电控研究所,上海200092

出　　处：《机床与液压》2013年第3期96-98,共3页Machine Tool & Hydraulics

摘　　要：全自主移动车辆作为典型的地面无人车辆,以先进的传感器技术、通讯技术为核心,以先进的移动平台为载体,能够代替人类按照规划路径进行自主导航,完成任务。针对全自主移动车辆开发了实时性和可靠性极高的VxWorks嵌入式系统,采用了现场总线CAN及对电机速度控制运用了插值计算方法,并对该控制系统进行了实验论证。结果表明,该控制系统满足车辆自主控制的实时性和可靠性要求。As a typical ground unmanned robot, the autonomous vehicles can conduct autonomous navigation according to planned path and complete task in place of human beings with the advanced moving mechanism as its body and the advanced sensor technology, communication technology as its soul. A real-time and high reliability embedded system was developed which was named VxWorks system. CAN field bus was adopted, and interpolation calculation method was used to control the motor. The control system was tested through experiments. The result shows it meets the requirements of real-time property and reliability.

关 键 词：全自主移动车辆 VXWORKS系统 现场总线CAN 插值计算 

分 类 号：TK323[动力工程及工程热物理—热能工程]