基于新传感器排布的电磁导航式智能车循迹算法研究  

Tracking algorithm of electromagnetic navigation intelligent vehicle based on a new sensor arrangement

作　　者：刘佳男 孙宗耀 刘彩云 LIU Jianan;SUN Zongyao;LIU Caiyun(Institude of Automation,Qufu Normal University,273165,Qufu,Shandong,PRC)

机构地区：[1]曲阜师范大学自动化研究所

出　　处：《曲阜师范大学学报（自然科学版）》2019年第4期59-64,共6页Journal of Qufu Normal University(Natural Science)

基　　金：国家自然科学基金(61773237);山东省研究生教育优质课程资助(SDYKC17079)

摘　　要：研究了电磁导航式智能车的循迹算法.提出了一种新的传感器排布方案“倒T型”,其优点在于能够对智能车的远方路况进行预判.基于该方案的控制算法表明:电动势差关于智能车的水平偏移量是单调的,能够有效地反映智能车与中心导线的偏离程度.最后,通过实验验证结果的正确性.This paper investigates the tracking algorithm of electromagnetic navigation intelligent vehicle.A new sensor layout scheme named inverted T-type is proposed to evaluate the distant road conditions of intelligent vehicles in advance.The tracking algorithm shows that the electric potential difference is monotonous on the horizontal offset,which can effectively reflect the deviation between the intelligent vehicle and the central conductor.Finally,the simulation example illustrates the correctness of the control strategy.

关 键 词：智能车 电磁导航 传感器排布 倒T型 循迹算法 

分 类 号：O231.2[理学—运筹学与控制论]