摘要
介绍一种基于数字摄像头的双轮驱动式智能车控制系统。针对道路中不连续的引导线,改进动态跟踪边缘检测法并提出了预估补偿的方法。针对后轮独立驱动的双驱模型车,采用基于Ackerman转向模型的电子差速算法。实验结果表明此系统能够在引导线不连续的复杂路况中快速、稳定行驶。
A control system of two-wheel drived smart car based on digital camera is described in this paper.The dynamic tracking method of edge is improved and the method of predictive compensation is proposed aiming for detecting the broken lines.An electronic differential algorithm based on Ackeman steering principle is applied for the two-wheel drived car. Experimental results show that the car can ran steady and rapid on the complicated runway.
出处
《工业控制计算机》
2012年第10期35-36,38,共3页
Industrial Control Computer
基金
西安建筑科技大学国家级大学生创新性实验计划项目(101070321)
关键词
双轮驱动
预估补偿
电子差速
smart car,two-wheel driving,predictive compensation,electronic differential
