摘要对信标导引智能车的控制算法和软件进行研究与设计。首先，本文在完成智能车的总体设计以后，建立了系统的二自由度模型、后轮驱动模型以及前轮转向模型。其次，本文设计了模糊PID算法用于前轮转向控制、分段式PID算法用于后轮速度闭环控制以及中值滤波法和Freeman链码法用于信标识别，此外，在对比了人工势场法与模糊控制算法用于路径规划与避障的效果以后，设计了基于超声波的模糊避障算法，并在MATLAB中进行仿真验证了算法的可行性。82780

然后，本文完成了软件的总体架构设计、时序设计和程序流程图设计。为保证软件的正确运行，进行了软件的分模块设计。主要包括：初始化模块设计、中断控制模块设计、超声波测距模块设计、信标识别模块设计、电机控制模块设计以及舵机控制模块设计。

最后，本文完成了系统的分模块调试与联合调试工作。实验结果表明，本文所设计的算法与软件具有可行性和可靠性。

毕业论文关键词  信标导引  模型   算法设计  模糊控制   软件设计

毕业设计说明书外文摘要

Title  Design and Implementation of Intelligent Vehicle for the          Eleventh “NXP” Cup-- Algorithms and Software Design of 

the Beacon Guided Intelligent Vehicle Control System     

Abstract In this paper，the control algorithms and software of the beacon guided intelligent vehicle control system is researched and designed under the background of the eleventh “NXP” Cup。

Firstly, after the completion of the overall design of the intelligent vehicle, this article establishes the two freedom model of the system, the front steering system model and the rear-wheel drive model。

Secondly, this article designs the control algorithms of the front steering system based on the fuzzy PID algorithms, the closed-loop speed control algorithms of rear-wheel drive system based on the segmented PID algorithms, the beacon recognition algorithm based on the median filter and Freeman chain code method。 In addition, in contrast to the artificial potential field method and fuzzy control algorithms for path planning and obstacle avoidance, fuzzy obstacle avoidance。 algorithm based on ultrasonic sensors is adapted and is verified the feasibility 

Thirdly, I complete the overall architecture of software design, timing diagram design and work flow chart design。 Besides, I complete the software design by means of sub-module design。 

Finally, I complete the debugging of all sub-modules and the joint commissioning of the system。 The experimental results show that the algorithm and software design is feasibility and reliability。

Keywords  Guidance   Model   Algorithms Design  Fuzzy Control   Software Design

目   次

1  引言 1

1。1  课题研究背景 1

1。2  国内外发展现状 1

1。3  本文研究内容及工作安排 3

2  信标导引智能车总体设计 4

2。1  信标导引智能车需求分析 4

2。2  信标导引智能车系统组成结构与工作原理 5

2。3  信标导引智能车硬件资源介绍 7

2。4  本章小结 9

3  信标导引智能车系统建模