微型电脑应用

为了解决智能小车在十字路口或米字型路口的巡迹问题，提出一种基于方位角度的巡迹方法。通过角度传感器MPU6050测量小车的水平方位角，控制小车沿预定的角度行驶。为提高角度循迹的精度和稳定性，用PID算法进行了控制。设计了硬件电路并进行了软件编程，制作出了小车样品。经测试该小车能够能够沿着任意角度行驶，较好的解决米字型路口的巡迹问题，具有精度高、速度快等优点。该方法相对于光电传感器巡迹，克服了其在复杂路口难以找准正确路径的问题。

In order to solve the tracking problem of intelligent vehicles at intersections or meter shaped intersections, a tracking method based on azimuth angle is proposed. The horizontal azimuth of the trolley is measured by the angle sensor MPU6050 to control the trolley to travel along the predetermined angle. In order to improve the accuracy and stability of angle tracking, PID algorithm is used. The hardware circuit is designed and the software is programmed, and the car sample is made. After testing, the car can travel at any angle, which can better solve the tracking problem of meter shaped intersection. It has the advantages of high precision and high speed. Compared with photoelectric sensor tracking, this method overcomes the problem that it is difficult to find the correct path at complex intersections.