A Method of Measurement and Control about Automatically Tracing Intelligent Vehicle Based on Infrared Photoelectric Sensor

摘要

The design is automatic tracing intelligent vehicle control system. In the design, simplifies external locus analysis of the kinetic model as a built-in model, In order to ensure the model perturbation or random interference when uncertainty functions to maintain its satisfactory quality, shorten the control response time of intelligent vehicle through the nonlinear controller by regulation of steering direction and speed. Incremental algorithm using variable metric nonlinear intelligent control programs to address high-speed smart car to go straight when you go prone to oscillation or slow curve showing the problem so that is not sensitive to small deviations, and ultimately the provisions of the model car in the path, self-identification line, fast-moving. Experiments show that the system can be well positioned to meet smart cars on the path to identify the requirements of performance and anti-jamming ability, speed adjustment quick response time, steady-state error is small, it also has good dynamic performance and good robustness.