摘要
结合图像识别、模糊自适应PID控制等算法,设计并实现一种自主驾驶智能小车。以NXP的微控制器MK60N512VMD100为核心控制单元,通过CMOS摄像头OV7725检测并分析跑道信息,利用512线光电编码器测定小车的运行速度,并将速度和方向参数反馈给电机和舵机,结合PID算法实现闭环控制。经过多次在实验室模拟跑道实测发现,小车运行轨迹控制较为精确,速度平稳,具备较强的环境适应能力。
An autonomous driving intelligent car was designed and implemented based on image recognition and fuzzy adaptive PID control algorithm.With the microcontroller MK60N512VMD100 of the NXP as the core control unit,the CMOS camera OV7725 is used to detect and analyze runway information,and the photoelectric encoder with 512 lines engraved per round is used to measure the running speed of the car,and feed speed and direction parameters back to the motor and steering engine,so as to realize closed?loop control by combining with the PID algorithm.After many actual tests on the simulation runway of the laboratory,it has been found that the car has an accurate running trajectory control,stable speed and strong environment adaptability.
作者
陈二阳
张修军
袁姜红
CHEN Eryang;ZHANG Xiujun;YUAN Jianghong(School of Information Science and Engineering,Chengdu University,Chengdu 610106,China;School of Geophysics,Chengdu University of Technology,Chengdu 610059,China;Sichuan Winshare Vocational College,Chengdu 611330,China)
出处
《现代电子技术》
北大核心
2018年第18期162-165,169,共5页
Modern Electronics Technique
基金
国家重点研发计划项目子课题(2016YFB0800604)
国家自然科学基金青年基金(61601063)
四川省教育厅科研项目(18ZA0123
17ZA0340)
成都大学.龙泉驿区汽车创意设计试点区项目(2015-CX00-00010-ZF)
成都大学本科教育教学改革项目(cdjgb2017020
cdjgb2017080
cdjgb2017066)~~
