摘要
介绍自主式寻迹智能车的设计,探讨采用电荷耦合器件(CCD)作为路径采集模块实现自主寻迹的软硬件设计方法.系统以Texas Instrument公司的TMS320LF2407A为主控制器,实现了对CCD输出的黑白视频信号的实时采集处理,通过边沿提取算法获得路径信息,对舵机和驱动电机采用P控制算法,使得智能车行驶快速流畅.研究表明此设计方案可在黑白(或色差较大)赛道上获得良好的自主寻迹效果.
The design of the autonomous tracing intelligent vehicle was introduced and the software and hardware design method which realized autonomous tracing using charge coupled device （CCD） as the path recognition module was discussed. The black-and-white CCD output real-time video signals were gathered and processed by the key controller of Texas Instrument corporation＇s TMS320LF2407A. Path information was got by an edge detection algorithm. The P algorithm was utilized on the servomotor and the drive motor. It can make the intelligent vehicle travel fast and fluently. It is shown that the design program has a good autonomous tracing effect on the black and white （or large color-difference） track.
出处
《东华大学学报（自然科学版）》
CAS
CSCD
北大核心
2008年第6期728-731,共4页
Journal of Donghua University(Natural Science)
关键词
智能车
电荷耦合器件(CCD)
自主寻迹
路径识别
intelligent vehicle
charge coupled device （CCD）
autonomous tracing
path recognition
