英语翻译本文介绍了自主移动小车的整体设计,包括自主移动小车的轮子的数目和类型,小车的感知系统和驱动系统.并且对感知系统中

In this paper,autonomous mobile car's overall design,including the autonomous mobile car wheels in the number and type of car the perceptual system and drive system.And the perception system in the speed and direction sensors and sensor-driven system of motor-driven and done a stepper motor drive further elaborated.Freescale16 design is partly based on SCM MC9S12DG128 as a system for the control processor,based on infrared sensors detect the road,through the processing and analysis of information,access to the track with black lines and gun feedback on the autonomous mobile trolley loop Feedback control; through the motor-driven and S12 to PWM control,making autonomous mobile trolley to the track in accordance with the regulations and to advance.The paper introduced the car's hardware design,software design and control and algorithms,described in detail the autonomous mobile trolley motor drive module,power modules,road test modules and steering gear drive module.