基于MC9S12XS128单片机的智能小车控制系统设计与实现

Design and Implementation of Smart Vehicle Control System Based on MC9S12XS128

介绍了一种电子竞赛智能小车的控制系统设计与实现.以MC9S12XS128单片机作为控制系统核心,设计了智能小车的视频处理电路、电机驱动电路以及电源电路等,给出了赛道图像采集算法、抗干扰和抗反光的黑线提取算法、舵机转向和速度调节的PID控制算法、赛道识别和弯道控制算法,制作的智能小车能通过对自身运动速度和方向的实时调整实现沿赛道快速稳定地行驶.

A design and implementation process of a control system for a smart vehicle prepared for undergraduate electronic contests were introduced.Taking a MC9S12XS128 microprocessor as the core,a video processing circuit,a motor driving circuit and a power circuit of the vehicle were designed.Some algorithms for track image collection,anti-interferential and anti-reflective black line extraction,PID control of steering and speed,and track recognition together with turning control were given.Finally,through instantaneously adjusting its own speed and direction,the vehicle can run along the route stably at a high speed.