Unmanned vehicle is a kind of intelligent vehicle, also can be called as wheeled mobile robot, mainly rely on the computer system based intelligent driving system to achieve unmanned. Unmanned vehicle is a vehicle without a person on board .It is usually the vehicular sensor vehicle sensing the surrounding environment, and according to the perception of the road, the vehicle location and obstacle information, the steering and speed control of the vehicle so that the vehicle can safely and reliably driving on the road.
Unmanned vehicle fundamentally changed the traditional person vehicle road closed loop control mode, driving risk isolation, intelligent transmission, anti-collision, steering, brakes and so on, thus greatly improving the safety and efficiency of traffic system.
The unmanned vehicle is the future direction of the development of the car, people will use intelligent unmanned vehicles in the near future. It is a kind of detection, identification, judgment and decision, optimization, optimization and execution, feedback, correcting control function to merge into an integral whole, study, summary, improve skills, a microcomputer, a micro motor, power of green environmental protection system, new structural materials such as top scientific and technological achievements as one of the intelligent car.
The implementation of major functional subsystems are possible by integrating and fusing data acquired from various sensory systems such as GPS, motor control, route recognition control , traction control , battery management and so on . This paper focuses on introducing the motor control , Using PID algorithm to control the motor and the battery management control of the unmanned vehicle .
This paper discuss the trajectory tracking system of unmanned ground vehicles based on fuzzy-CMAC control . Because the unmanned ground vehicles can not satisfactorily complete the path tracking task, highly efficient and stable trajectory control system is necessary for unmanned ground vehicle to be realized intelligent and practical. According to the characteristics of unmanned vehicle, this paper built the kinematics tracking models firstly. Then studied algorithm solution with the tools of the optimal stability analysis method and proposed a tracking control method based on the fuzzy-CMAC control． The controller used a kinematics-based prediction model to calculate the predictive error. This controller helps the unmanned vehicle drive along the target trajectory quickly and accurately. The designed control strategy has strong robustness， simplicity as well as generality for kinematics model of the unmanned vehicle. Furthermore， the computer Simulink/Carsim results verified the validity of the proposed control method.