摘要
介绍了一种基于视觉传感器的智能车控制系统。首先对系统硬件设计方案进行介绍,然后介绍了其软件设计,包括图像预处理、畸变校正以及小车控制策略,分为巡线控制和路径规划,其中巡线控制使用最优曲率算法,最后介绍了基于SD卡的调试手段。实验结果表明,该小车能在白底黑线的跑道上稳定快速地行驶,其均速可达3.3 m/s。
This paper describes a control system of a vision sensor-based smart car.First,the hardware design of the system is described,and then it introduces its software design,including image preprocessing,distortion correction,and car control strategy which is divided into line-tracking control and path planning,and the optimal curvature algorithm is used in the line-tracking control,finally introduced the debugging tools-SD card online store.Experimental results show that the car can ran steady and rapid on the runway,the average rate up to 3.3 m/s.
出处
《工业仪表与自动化装置》
2010年第6期34-37,44,共5页
Industrial Instrumentation & Automation
基金
西安交通大学国家级大学生创新性实验计划项目(081069822)
关键词
智能车
视觉传感器
畸变校正
巡线控制
路径规划
smart car
visual sensor
distortion correction
line-tracking control
path planning
