In order to take part in the intelligent car competition of national college students,a four-wheeled mobile robot guided by photoelectricity was designed,which could move forward and steer as required.The mathematical model of front-wheel steering and rear wheel drive was also built.In order to optimize the system performance,the control strategies are designed,including fuzzy control strategy for steering,the intelligent motor PID control strategy based on analytical controller,path recognition strategies and method to determine the type of track.The results show that the robot is capable to move forward and turn as required,verifying the feasibility of system design and the effectiveness of the control algorithm as well.%全国大学生智能车竞赛要求设计一种能按要求快速稳定平移和转向的光电导引的四轮移动机器人系统;因此分别建立了前轮S-D5舵机转向模型和二阶后轮RS540电机驱动数学模型,设计了基于模糊控制的前轮转向算法、基于解析式控制器的智能自适应PID后轮驱动算法、赛道判别算法,改进了线性CCD采集图像处理算法,利用基于二值化的双向跳变沿检测法代替单向跳变沿检测并采用膨胀腐蚀算法滤除噪声;实际调试结果表明:所设计的机器人能快速稳定地沿赛道运动,验证了系统设计的可行性和算法的有效性.
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