CAJ | 학술논문

地下商城停车场无人值守智能机器人测控系统是一个集路径识别、信息决策和多级辅助驾驶、烟气识别、火灾识别、报警喷水、通信等功能于一体的综合信息化系统；文章采用模糊算法和增量PID控制策略相结合的方法，定位出小车与黑线间的位置修正量，调整舵机的相应运动，形成一个速度闭环控制，从而实现了智能车对道路的自主识别和寻迹。该软件系统运用于实际现场当中，其技术指标达到了设计要求，有一定的推广意义和实际使用价值。
지하상성정차장무인치수지능궤기인측공계통시일개집로경식별、신식결책화다급보조가사、연기식별、화재식별、보경분수、통신등공능우일체적종합신식화계통；문장채용모호산법화증량PID공제책략상결합적방법，정위출소차여흑선간적위치수정량，조정타궤적상응운동，형성일개속도폐배공제，종이실현료지능차대도로적자주식별화심적。해연건계통운용우실제현장당중，기기술지표체도료설계요구，유일정적추엄의의화실제사용개치。
The unattended intelligent robot system in underground mall parking lot is an integrated information -al system with functions of route recognition , path identification , information decision , multistage auxiliary driving , gas and fire recognition , spray-water alarming and communication .Fuzzy algorithm and PID method were com-bined to calculate the position correction between the vehicle and the black line , adjust the movement of the steer-ing gear, thus forming a speed closed -loop control and realizing the route recognition .The application results show that the technical specification reached the design requirements .