基于多Agent系统的智能车辆自主行驶控制研究-车辆工程专业论文.docxVIP

较高的可靠性。关键字：智能车辆，多Agent系统，遗传算法，支持向量机，单神经元，变结构控制 较高的可靠性。 关键字：智能车辆，多Agent系统，遗传算法，支持向量机，单神经元，变结构控制 AB AB STRACT Intelligent vehicle(IV)，which is comprehensive intelligent system which integrates the function of environment perception，planning and decision-making and driving assistance，etc，is product of that contains multi—technical subjects such computer vision，artificial intelligence，auto—control theory and electronic technology．IV successfully reach its destination move along desired path in environment characterized by terrain．Therefore，it has highly expansive application prospect． This paper take four-wheels IV as the control object．A high precision line CCD camera，high speed DSP and ultrasonic used to build the vision guildance system，the motion control system and the obstacles avoidance system of IV．The paper center is attached to discuss image processing，intelligent control，path planning and multi·motors controlling etc． The major work in this paper be summarized as the following： 1)Mult imagine processing methods are studied to enhance the adaptability and flexibility of vision system and solve different image flaws，such as fuzzy,distortion and noise．These imagine processing methods are as follows，Firstly,smoothing—filtering approaches to the road image introduced in my dissertation contain neighborhood methods and median methods etc．Secondly,edge enhancing approaches adopted in my dissertation include Robert arithmetic operator,LOG arithmetic operator and Prewitt arithmetic operator etc．Lastly,thresholding segmentation approache to the road image contain simple iterating method of optimum thresholding segmentation．A lot of contrastive experiments performed to bring forward the optimum thresholding segmentation image processing methods for navigation of IV in view of practical processing effects and real-time performance．This method highlights edge line between the marking line and background，and provides the basis for the calculation of lateral range and