东北大学学报（自然科学版）

东北大学学报(自然科学版) ›› 2013, Vol. 34 ›› Issue (7): 917-921.DOI: -

• 信息与控制 • 上一篇    下一篇

基于电磁效应的轮式智能车导航控制

张云洲，杨兵，李龙，蒋建军   

  1. (东北大学信息科学与工程学院，辽宁沈阳110819)
  • 收稿日期:2012-08-31 修回日期:2012-08-31 出版日期:2013-07-15 发布日期:2013-12-31
  • 通讯作者: 张云洲
  • 作者简介:张云洲(1974-)，男，河南渑池人，东北大学副教授，博士.
  • 基金资助:
    国家自然科学基金资助项目(61273078)；中国博士后科学基金资助项目(2012M511164)；中央高校基本科研业务费专项资金资助项目(N110404030)；辽宁省博士启动基金资助项目(20124004).

Navigation and Control for Wheeled Intelligent Car Based on Electromagnetic Effect

ZHANG Yunzhou， YANG Bing， LI Long， JIANG Jianjun   

  1. School of Information Science & Engineering， Northeastern University， Shenyang 110819， China.
  • Received:2012-08-31 Revised:2012-08-31 Online:2013-07-15 Published:2013-12-31
  • Contact: ZHANG Yunzhou
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摘要： 以智能交通概念原型系统为背景，引入电磁效应构建了微型道路交通线路，采用微型控制器设计了在缩微交通环境中行驶的轮式小车导航与控制系统.根据沙盘区域的实际几何参数，建立了可行的行驶路线网络，引入RFID设计了交叉路口的转向策略，实现了多辆车模按照设定路径的准确行驶.针对电磁效应导航线的识别进行了理论分析，给出了系统架构和传感器布局，以及小车偏航距离与方向的判断方法.实际测试表明，所设计的电磁导航控制系统能够稳定运行，可引导小车在复杂的道路网络上准确行驶.

关键词: 轮式智能车, 路径识别, 电磁效应, 转向控制, RFID

Abstract: With intelligent transportation system as the background， a navigation and control system of wheeled car was designed and implemented on the basis of the electromagnetic effect. The model cars would run in a microtrafficnetwork environment. According to the real geometry parameters of the sandtable， feasible route for the cars was built and the directionturning strategy of intersect junction with RFID tags was designed. Multiple conceptual models could run along with the designated path correctly. Theoretical analysis was proposed for electromagnetic navigation line. System architecture and sensors layout were introduced in details as well as the judgment of car’s deviation， including distance and direction. Experimental test showed that the proposed navigation and control system can work stably and lead the wheeled car run correctly in complex route net.

Key words: wheeled intelligent car, path recognition, electromagnetic effect, directionturning control, RFID (radio frequency identification)

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