Multi-smart car control system design and research based on ZigBee

摘要

Firstly, the multi-smart car formation control system is designed by using distributed control architecture. The wireless communications, the magnetic field sensors, motor drives and other hardware modules are designed. The smart car navigation is achieved by magnetic field detection. Then the multi-smart car cooperative control self-organizing wireless communication network is designed by ZigBee. The embedded μC/OS-II real-time operating system is transplanted into the smart car. According to the requirements for multi- smart car cooperative control, the linear optimal quadratic fleet tracking control algorithm is utilized to realize multi-smart car start and stop formations, and uniform and ramp control. The collaborative communication negotiation intersection algorithms are applied to achieve crossing collaborative tasks of the smart car. Finally, the experimental results show that the designed ZigBee wireless communication network meets the requirements for the collaboration control, formation control and road junction collaborating control of the smart car.