Motion Control Realization for an Intelligent Car with Integrity Constraints

Yuchuan Li
2018 Proceedings of the 2018 International Conference on Advanced Control, Automation and Artificial Intelligence (ACAAI 2018)   unpublished
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
more » ... he 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.
doi:10.2991/acaai-18.2018.2 fatcat:b2afziny4jhjfgea43qnu3eqne