摘要
为了提升智能车的竞速能力,本文从组装、关键器件选型、硬件设计、电路板设计、传感器信号处理、算法和控制等方面,介绍了基于IMXRT1021竞速智能车系统.包括机械部分、硬件部分、PCB设计、传感器信号处理、赛道元素识别算法、控制策略和软件设计架构等内容.本文详细阐述了各个竞赛元素的识别与控制方案,并且通过实验对比智能车的行驶轨迹和绝对速度,分析了不同控制算法对其完赛时间、稳定性等重要技术指标的影响.本文的设计方案具有控制精确、转向灵敏、路径规划能力优秀等优点,对于备战全国大学生智能车竞赛四轮组的选手具有很好的参考价值.
To improve the racing performance of intelligent cars,this study introduces an intelligent racing car system based on IMXRT1021 with regard to selection of key components,design of hardware and circuit boards,and processing of sensor signals,as well as assembly,algorithms and control.This system consists of mechanical and hardware parts,PCB design,sensor signal processing,the recognition algorithm of racing track elements,control strategy and software design architecture.This study experimentally elaborates the recognition and control schemes of each racing elements.It compares the driving trajectories and absolute velocities of intelligent cars and analyzes the influence of different control algorithms on vital technical specifications such as finish time and stability.This design scheme shows its advantages in accurate control,sensitive steering and careful route planning,providing a sound reference for the students who are preparing for the four-wheel group in the National University Students Intelligent Car Race.
作者
何牧天
傅敏康
何毅
孙冬梅
HE Mu-Tian;FU Min-Kang;HE Yi;SUN Dong-Mei(College of Electrical Engineering and Control Science,Nanjing Tech University,Nanjing 211816,China)
出处
《计算机系统应用》
2021年第8期50-59,共10页
Computer Systems & Applications
