NGHIEN ClifU - TRAO 061 MO m ^ H HOA VA PHAar TICH XE Ttf HANH CHUYEIP e n d HASTH KHACH TS.Nguyen Trddng Thinh, PGS.TS NguySn Ngpc PhdPng, ThS Tddng Phddc Tho Bp mdn CP di|n tii, Trddng Dai hpc Sd pham Ky thudt TRHd Chi Minh TOM TAT Suphdt triin hien cua thi he phUdng tiin di chuyin cdng cdng thdng minh nhUxe tuhdnh dUa vdo cdu true ddng hoc ldi tU ddng vd dieu khiln dUa tren bdi todn ddng lUc hoc tao khd nan^ chuyin ddng vUdt trdi mdi trUdng cdng cdng nhU bin xe vd sdn bay Trong bdi bdo ndy chung toi de cap viec thilt kl, md hinh hda vd phdt triin mot robot di ddng dUa tren cdu true cua xe tU hdnh chuyen chd hdnh khdch Xe tU hdnh ndy dUdc ldi tU ddng bdng ddng cd dien vd dUdc md hinh hda Id he thon^ ddng hoc non-holonomic vdi di chuyin Id Idn vd khdng trUdt Ndi dung bdi bdo cung se de cap viec dieu khien bdm theo quy dao cho trUdc dUa tren md hinh hda, ddng hoc, ddng lUc hoc vd phdn dieu khien ham theo quy dao cho trUdc cua xe tU hdnh cd khd ndng tranh vdt cdn Sau dd, kit qud cua phUdng phdp dieu khiln theo bdi todn ddng hoc vd ddng lUc hoc bdm theo quy dao cho trUdc dUdc tiln hdnh ddnh gid dUa tren cdc thUc nghiem Trong bdi bdo ndy, chung tdi cung de cap din khd ndng tUdng tdc cua cdc loai cdm biln gdn tren xe tU hdnh ABTRACT The recent development of a new kind of public transportation system relies on a steering kinematic structure and dynamic control enhancing manoeuvrability in public environments such as airports, bus terminal Thispaper describes the design, modeling and development of a mobile robot based on structure of autonomous car The autonomous car is steered by DC servo motor The autonomous car is modelledas a non-holonomic dynamic system subject to pure rolling, no-slip constraints In the paper, the trajectory tracking is controlled for a nonholonomic autonomous car based on modeling, kinematics, dynamics as well as control The effectiveness of the proposed control to trajectory-tracking process is demonstrated by experimences We address the integration of sensors abilities into a autonomous car Specifically, we aim at reactive execution of planned motion We address the fusion of controls issued from the control law and the obstacle avoidance module using probabilistic techniques B TAP CHf CO KHf VIET NAM • S6 1+2 (Thang 1+2 nam 2012) NGHIEN c a u - TRAO D(!)l GIOII THifiU tinh linh hoat cua xe cung phdi ddpc chu y Do dd, bdi bdo ndy chung tdi tap trung dl cap din Hien vdi tinh hinh thiic t l vl can kilt viec md hinh hda vd phdn tich ddng hpc, ddng ldc ndng ldpng xe chay bang nhien lieu xdng dau gdy hpc, dilu khiln cua xe td hdnh chuyen chd hdnh d nhiem mdi trddng sinh thdi cung nhd nhu cau khdch di lai ciia eon ngddi ngdy cdng Idn dd thue day ngddi cd gang tim kilm gidi phdp mdi thay M HiNH D O N G HQC XE TU" H A N H thi nhien heu xdng dau nham gidm d nhilm mdi trddng Ddng thdi gidi quylt van de khdng nhd la Dilu khiln khdng ngddi ldi Id phdn giup cho ngddi gid, ngddi tdn tdt cung nhd hdnh quan trpng nhat dl thilt kl xe td hdnh linh khdch cd thi di chuyen bang xe md khdng can vdc nghien cdu he thdng giao thdng thdng minh tdi xe ldi xe mdi trddng cdng cdng Vdi ylu (ITS Intelligent Transportation Systems) Xe cau gidi quylt nhdng van dl tren, nin viec nghien td hdnh ddpc dl cap Id mdt dang xe dilu khiln cdu, thilt klvd ehl tao xe d td dien td hdnh mang td ddng vdi quy dao Id khdng gian chilu hoac tinh chat robot sd dung chuyin chd hdnh dddng cong ddpc xdc dinh vd dilu khien Id he khdch dd ddpc tiln hdnh nghien cdu nhdng thdng CP dien td He thdng ldi tii ddng vd ldi bang nam gan ddy tai trddng Dai hpc Sd pham Ky thudt tay cd thi thay ddi chdc ndng cua bd ldi td chi dp TRHCM Xe cd ddc dilm: khdng gdy d nhilm, dilu khiln bang tay thdnh td ddng hoac ngdpc lai, chay hodn todn td ddng vi tri ndy din vi tri khde, nguyen ly nhd hinh CO thi chay bat cd thdi dilm ndo, cung nhd cd khd ,