基于视觉传感器的自主循迹智能车的设计及实现.pdfVIP

∀ 34∀ 2010 6 基于视觉传感器的 自主循迹智能车的设计与实现 1 2a 2b 2c 2c 王 建 , 张晓炜 , 杨 锦 , 昝 鑫 , 刘小勇 ( 1. 中国科学技术大学 自动化系, 合肥 230027; 2. 西安交通大学 a. 人工智能与机器人研究所; b. 金禾经济研究中心; c. 电 与信息工程学院, 西安 710049) : 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 : 智能车; 视觉传感器; 畸变校正; 巡线控制; 路径规划 : TP273 : A : 1000 - 0682( 2010) 06- 0034 - 04 D esign and im p lem en tation of a self- track ing sm art car based on visual senso r 1 2a 2b 2c 2c WANG J an , ZHANG X aow e , YANG J n , ZAN X n , L IU X aoyong ( 1. D epartment of Automation, University of Science and Technology of China, H ef ei 230027, China; 2a. Institute of Artfi icial Intelligence and obots; b. Jinhe CenterforEconomic esearch; c. School of Electronic and Inf ormation Eng ineering, X ian Jiaotong University, X ian 7 10049, China) Ab stract: T h s paper descr bes a con tro l system o f a v s on sensor- based sm art car. F rst, the hardw are des gn o f the system s descr bed, and then t ntroduces ts so ftw are des gn, nclud ng m age preprocess ng, d stort on correct on, and car contro l strategy wh ch s d v ded nto l ne- track ng contro l and path plann ng, and the optm al curvature a lgor thm s u sed n the l ne- track ng contro,l f na lly n troduced the debugg ng too ls - SD card on l ne store. Experm enta l results show that the car can ran steady and rap d on the runw ay, the average rate up to 3. 3 m / s. K ey w ords: sm art car; v sua l sensor; d stort on correct on; l