中文摘要：

介绍了一种上位机结合Freescale MC9S12DG128单片机的智能循迹与绘迹小车系统的研制。通过红外光电传感器探测前方路径信息,运用比例控制与模糊控制相结合的控制算法快速动态调节舵机转角与行车速度,实现小车转向和速度的智能控制;基于上位机PC端与无线收发模块之间的通信,实现了上位机对小车的远程控制,同时能实现了小车运动轨迹的绘迹。实验表明,上位机能准确控制小车运动,具有较好的动态特性,能快速稳定地循迹与绘迹。

英文摘要：

Introduces the design of an intelligent tracking and drawing system based on the Freescale MCU MC9S12DG128.By using infrared photoelectric sensors,system can detect real-time route information.Then system steering angle and running speed can be effectively adjusted by combination of proportional control and fuzzy control methods,which realizes the dynamical control of the whole system.Based on the communication between PC and RF wireless modules,remote control is effectively realized and accurate drawing is obtained.Finally,experiment results are given to show the effectiveness of the proposed system.