智能小车编队避障控制系统设计

摘要

In this paper,a noval pilot-following formation strategy is proposed to control the intelligent cars. Firstly,the cars based on STM32 single-chip control capable of autonomous obstacle avoidance are designed,which mainly includes hardware modules such as core controller,wireless communication and motor drive,and controls the PWM output of the motor through the incremental PID algorithm. The optical motion capture system is used to acquire the pose information of the cars and transmit it to the upper computer control system. Based on the pilot-following formation model,the Simulink control system built by the upper computer completes the speed calculation of the mobile robot by using the model predictive control algorithm,and completes the wireless communication between the upper computer control system and the robot through Bluetooth. The experimental results prove that the mobile robot can be driven according to the desired trajectory under the command of the upper computer control system to achieve the intended experimental purpose.%该文智能小车编队采用的是领航-跟随编队策略,首先设计了基于STM32单片机控制的能够自主避障的智能小车,主要包括了核心控制器、无线通信、电机驱动等硬件模块,通过增量式PID算法控制电机的PWM输出.利用光学运动捕捉系统获取智能小车领航者的位姿信息并传输到上位机控制系统中.上位机搭建的Simulink控制系统根据领航-跟随编队模型,应用模型预测控制算法完成智能小车的速度运算,并通过蓝牙完成上位机控制系统和智能小车之间的无线通信.实验证明智能小车能够在上位机控制系统的指令下完成期望轨迹的运行,达到预期实验目的.