Motion Control Realization for an Intelligent Car with Integrity Constraints
In order to realize the obstacle avoidance and tracking movement function of the 3-wheeled intelligent car with integrity constraints,the kinematics model of the car is derived first,and the control of the speed of the car-driven DC motor,i.e.the wheel speed,is realized by using the PWM control method.An improved PID control algorithm and its controller are designed,and some parameters of the controller are regulated according to experimental test data,such as hold the ball time of the car,the turning radius and the turning speed of the car during the obstacle avoidance.Finally,the car can meet the good athletic performances,and achieved good results in the competition.
Integrity Constraints Intelligent Car Improved PID control algorithm Kinematics model
Yuchuan Li
Department of Automation,Tsinghua University,Beijing 100084,China
国际会议
深圳
英文
5-9
2018-01-21（万方平台首次上网日期，不代表论文的发表时间）