Proceedings of the 2018 International Conference on Advanced Control, Automation and Artificial Intelligence (ACAAI 2018)

Motion Control Realization for an Intelligent Car with Integrity Constraints

Authors
Yuchuan Li
Corresponding Author
Yuchuan Li
Available Online March 2018.
DOI
https://doi.org/10.2991/acaai-18.2018.2How to use a DOI?
Keywords
Integrity Constraints; Intelligent Car; Improved PID control algorithm; Kinematics model
Abstract

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 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.

Copyright
© 2018, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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Volume Title
Proceedings of the 2018 International Conference on Advanced Control, Automation and Artificial Intelligence (ACAAI 2018)
Series
Advances in Intelligent Systems Research
Publication Date
March 2018
ISBN
978-94-6252-483-5
ISSN
1951-6851
DOI
https://doi.org/10.2991/acaai-18.2018.2How to use a DOI?
Copyright
© 2018, the Authors. Published by Atlantis Press.
Open Access
This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

Cite this article

TY  - CONF
AU  - Yuchuan Li
PY  - 2018/03
DA  - 2018/03
TI  - Motion Control Realization for an Intelligent Car with Integrity Constraints
BT  - Proceedings of the 2018 International Conference on Advanced Control, Automation and Artificial Intelligence (ACAAI 2018)
PB  - Atlantis Press
SP  - 5
EP  - 9
SN  - 1951-6851
UR  - https://doi.org/10.2991/acaai-18.2018.2
DO  - https://doi.org/10.2991/acaai-18.2018.2
ID  - Li2018/03
ER  -