摘要
设计了一种能自动识别和跟踪路径的智能车系统。用以MC9S12XS128作为核心控制器,利用COMS图像传感器OV6620作为路径信息采集装置,通过对采集图像进行二值化处理、去噪操作、边缘检测和断点修补后提取出路径中心信息。利用最小二乘法对路径中心信息进行直线拟合,根据拟合直线的参数计算舵机控制量。对舵机采用PD控制算法,根据舵机转向角设定小车的速度,并对小车实行转角和速度的实时控制。实验证明,该智能车系统能够沿着黑色赛道快速稳定地自动行驶,实现了路径识别与跟踪。
A smart vehicle that can automatically recognize and trace its route is designed. It takes MC9S12XS128 as a core controller, and CMOS camera OV6620 as an acquisition device for route information. The route information is extracted by binarization, denoising, edge detection and breakpoint interpolation on the image collected. The system uses the minimum square fitting method to fit a straight line with the tracking information and calculate the value of direction control according to the parameters of the fitted line. The PD algorithm is adopted for the steering control. The velocity of intelligent vehicle is set on the basis of steering angle. The real-time control of angle and speed is implemented on the smart vehicle. Experiments show that the intelligent vehicle system is able to automatically run fast and stably along the black track. And the path recog- nization and tracking is achieved.
出处
《现代电子技术》
2011年第18期12-14,17,共4页
Modern Electronics Technique
