四麦克纳姆轮式小车控制系统的研究
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摘要
针对常规智能小车避障缺陷以及移动灵活性不足,研究并设计了一种四麦克纳姆轮式小车控制系统。通过对麦克纳姆小车的运动模型分析,解算其底盘运动控制方程;采用模糊控制算法对超声波和红外传感器采集的环境信息进行模糊化处理;根据经验规则推理并解模糊输出各轮速度以实现避障。小车避障试验表明,该系统实现了Android App对小车全向运动的控制以及对小车相关信息显示,具有较好的交互能力。四麦克纳姆轮式小车工作于避障场景时能够自主避障,对进一步开展四轮式移动机器人的避障及人机交互等方面的研究有一定的参考价值。
Aiming at the defect of obstacle avoidance and the lack of mobility flexibility of conventional intelligent car,a four-Mecanum wheeled car control system is studied and designed. Through the analysis of the motion model of the Mecanum car,the chassis motion control equation is solved. Fuzzy control algorithm is used to fuzzify the environmental information collected by the ultrasonic and infrared sensors. According to the empirical rules,the fuzzy output of each wheel speed is reasoned and solved to achieve obstacle avoidance. The vehicle obstacle avoidance test shows that the system realizes the control of the omnidirectional motion of the car by Android App and the display of the relevant information of the car,and has a good interaction ability. The four Mecanum wheel-type trolley can avoid the obstacle when working in the obstacle-avoiding scene,and has a certain reference value to the further research on the obstacle avoidance and human-computer interaction of the four-wheel mobile robot.
Aiming at the defect of obstacle avoidance and the lack of mobility flexibility of conventional intelligent car,a four-Mecanum wheeled car control system is studied and designed. Through the analysis of the motion model of the Mecanum car,the chassis motion control equation is solved. Fuzzy control algorithm is used to fuzzify the environmental information collected by the ultrasonic and infrared sensors. According to the empirical rules,the fuzzy output of each wheel speed is reasoned and solved to achieve obstacle avoidance. The vehicle obstacle avoidance test shows that the system realizes the control of the omnidirectional motion of the car by Android App and the display of the relevant information of the car,and has a good interaction ability. The four Mecanum wheel-type trolley can avoid the obstacle when working in the obstacle-avoiding scene,and has a certain reference value to the further research on the obstacle avoidance and human-computer interaction of the four-wheel mobile robot.
引文
[1]陈威,陈静.基于多传感器的智能小车避障控制系统设计[J].工业控制计算机,2018,31(7):44-45.
[2]冯蓉珍.基于ATmega128的智能机器人小车控制系统设计[J].河北软件职业技术学院学报,2012,14(1):37-41.
[3]陈绍茹,陈奕梅.基于多传感器信息融合的移动机器人避障[J].传感器与微系统,2014,33(5):35-38.
[4]王檀彬,陈无畏,李进,等.多传感器融合的视觉导航智能车避障仿真研究[J].系统仿真学报,2009,21(4):1015-1019.
[5]彭美定,邓鹏.基于单片机的智能红外避障小车设计[J].无线互联科技,2017,14(3):74-76,104.
[6]李媛,刘营.基于激光雷达的车辆避障控制研究[J].山东工业技术,2018,37(19):144-147.
[7]张忠民,郑仁辉.基于模糊PID的麦克纳姆轮移动平台的控制算法[J].应用科技,2017,44(6):53-59.
[8]孙华,陈俊风,吴林.多传感器信息融合技术及其在机器人中的应用[J].传感器技术,2003,22(9):1-4.
[9]黄漫国,樊尚春,郑德智,等.多传感器数据融合技术研究进展[J].传感器与微系统,2010,29(3):5-8.
[10]张居彦.移动App设计工具Inventor[J].电子世界,2013,35(15):170-171.
[2]冯蓉珍.基于ATmega128的智能机器人小车控制系统设计[J].河北软件职业技术学院学报,2012,14(1):37-41.
[3]陈绍茹,陈奕梅.基于多传感器信息融合的移动机器人避障[J].传感器与微系统,2014,33(5):35-38.
[4]王檀彬,陈无畏,李进,等.多传感器融合的视觉导航智能车避障仿真研究[J].系统仿真学报,2009,21(4):1015-1019.
[5]彭美定,邓鹏.基于单片机的智能红外避障小车设计[J].无线互联科技,2017,14(3):74-76,104.
[6]李媛,刘营.基于激光雷达的车辆避障控制研究[J].山东工业技术,2018,37(19):144-147.
[7]张忠民,郑仁辉.基于模糊PID的麦克纳姆轮移动平台的控制算法[J].应用科技,2017,44(6):53-59.
[8]孙华,陈俊风,吴林.多传感器信息融合技术及其在机器人中的应用[J].传感器技术,2003,22(9):1-4.
[9]黄漫国,樊尚春,郑德智,等.多传感器数据融合技术研究进展[J].传感器与微系统,2010,29(3):5-8.
[10]张居彦.移动App设计工具Inventor[J].电子世界,2013,35(15):170-171.