智能小车自主寻优控制实验系统研究

摘要

设计了一种结构简单、适用性强、稳定性好且成本较低的智能小车自主寻优控制实验系统.以ST M89C52芯片为控制核心,红外线传感器、超声波传感器作为测距装置,光码盘作为车体方位推算导向传感器,建立了智能小车运动控制模型.应用人工势场路径规划法实现智能小车的自主避障、寻优路径功能.该系统能够让学生自主学习和应用更多的知识,并可用于更多的相关研究.%An autonomous optimization control experimental system for small intelligent vehicles with the simple structure,strong applicability,good stability and low cost is designed.By taking the STM89C52 chip as the core of control,infrared and ultrasonic sensor as the device of distance measurement,and optical encoder as the sensor of vehicle orientation estimation,the moving control model for small intelligent vehicles is established.The path planning method of the artificial potential field is adopted to realize the function of the autonomous obstacle avoidance and path optimization for small intelligent vehicles.This system allows students to learn and apply more knowledge independently and can be used for more related research.