自动寻迹智能车的设计与实现

Design and Implementation of Automatic Tracing Smart Car

摘要: 基于AT89S52单片机为核心控制单元，红外光电传感器为检测手段，设计开发一种自动寻迹智能车控制系统。本系统利用红外光电传感器阵列采集离散的路径信息，采用模糊控制方法改变电机方向和转速，缩短智能车控制响应时间，最终实现智能车在规定路径上自主识别路线、快速行驶。测试结果表明，在黑白等色差较大的赛道上该系统能够很好地满足智能车对路径识别性能，速度调节响应时间快，稳态误差小，具有良好的自主寻迹效果。

Abstract: Based on the single-chip micro-controller AT89S52 for central control unit and infrared sensors for detection methods, a control system of automatic tracing intelligent car was designed and developed. This system uses an infrared photoelectric sensor array collection separated from the path information with the fuzzy control method to change electric engine direction and speed, reduce the intelligent vehicle control response time, and ultimately achieve the ability of the smart car to identify routes in the specified path and move fast. Test results show that, in black and white color of the larger track, the system is capable of good performance to meet intelligent vehicle path identification, speed adjustment of faster response time, small steady-state error and good self-searching effectiveness.