智能车导航系统设计
首发时间:2017-08-14
摘要:本文设计了一种基于kinetis K60系列单片机的智能车循迹导航系统。该系统采用CMOS摄像头采集路径信息,舵机控制前轮转向,后轮驱动,编码器采集小车速度。对于弯道中线提取,本文在跟踪边界扫描算法的基础上提出了沿赛道边界曲率半径方向扫描的算法来获得较为准确弯道中线;对于舵机转角与速度控制,采用PD控制算法。通过实际测试,本文研究的小车能以2m/s的速度稳定精确的沿既定路径行驶。
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Design of intelligent vehicle navigation system
Abstract:Designed a tracking navigation system based on K60 microcontroller in this paper. The system uses CMOS camera to collect path information, steering wheel control, front wheel steering, rear wheel drive, and encoder to collect car speed. For curved centerline extraction based on boundary scan, tracking algorithm is put forward on the track along the scanning direction of the boundary curvature algorithm to obtain more accurate curve line; for the steering angle and speed control, using PD control algorithm. Through the actual test, the intelligent car researched in this paper can travel steadily along the fixed track at the speed of 2m/s.
Keywords: K60 Tracking Camera Intelligent vehicle
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