智能小车循迹控制算法优化与设计  

Optimization and Design of Tracking Control Algorithm for Smart Cars

作　　者：樊佳昊 刘芮嘉 王小利[2] FAN Jiahao;LIU Ruijia;WANG Xiaoli(Weihai No.1 Middle School,Weihai 264200,China;Shandong University (Weihai),Weihai 264209,China)

机构地区：[1]威海市第一中学,山东威海264200 [2]山东大学(威海),山东威海264209

出　　处：《电工技术》2019年第2期25-28,共4页Electric Engineering

摘　　要：本文对基于红外传感器的智能小车路径识别算法和循迹控制算法进行了优化设计。基于红外传感器识别黑色轨迹特性曲线的对称性和近似线性的特征,实现了连续路径识别,并提高了识别精度。针对传统PID算法控制参数不能实时调整的缺点,设计了控制参数可以随小车运行轨迹和速度实时调整的改进PID算法。并对路径识别以及循迹控制算法进行测试,测试结果表明,采用改进PID算法控制的智能小车克服了在高速运行时的抖动现象,并且速度明显提高。In this paper,the intelligent sensor path recognition algorithm and tracking control algorithm based on infrared sensor were optimized.Based on the infrared sensor,the symmetry and approximate linear characteristics of the black trajectory characteristic curve were identified.The continuous path recognition was realized and the recognition accuracy was improved.Aiming at the shortcomings of the traditional PID algorithm control parameters cannot be adjusted in real time,an improved PID algorithm with control parameters that could be adjusted in real time with the car's running trajectory and speed was designed.The path identification and tracking control algorithm were tested.The test results showed that the smart car controlled by the improved PID algorithm overcome the jitter phenomenon of the car during high-speed operation and the speed was obviously improved.

关 键 词：智能小车 红外传感器 路径识别 循迹控制 PID控制 

分 类 号：TP29[自动化与计算机技术—检测技术与自动化装置]