Design of automatic navigation and control system of a model car

• Main Authors: sun, peihua, 孫培華
• Other Authors: Li-Sheng Wang
• Format: Others
• Language: zh-TW
• Published: 1997
• Online Access: http://ndltd.ncl.edu.tw/handle/11833899287627780781

碩士 === 國立臺灣大學 === 應用力學研究所 === 85 === In this thesis, the Global Positioning System(GPS), electronic compass, wireless data-link and fuzzy controller are integrated to achieve the objective of automatic navigation and control system design of a model car. The attitude and the position of the model car are obtained via compass and KGPS(Kinematic GPS), respectively. A reference station is located at a precisely serveyed location, while the model car is equipped with a moving station. The position of the model car in WGS-84 is transformed into a plane coordinate. The fuzzy controller takes the attitude angle and the plane coordinates as input. After comparing with the desired path, the controller computes the required corrections for the speed and steering of the car in real time. These correction information are then transmitted to the moving ststion via a radio modem. Meanwhile, the 386 single-board computer on the model car sends the instruction of speed and steering angle correction to the single-chip microprocessor 8051. The single-chip will drive the stepping motor and servo motor to adjust the speed and steering angle of the model car, respectively, and make it move along the planned path. The experimental results show that the errors of the actual path from the desired path are within 50 centimeters.