基于视觉自主决策小车应用与实现

Implementation of Application of Visioin-Based Autonomous Decision-Making Trolley

重点探究基于视觉的自主决策小车在竞赛环境下的环境光自主调节,针对复杂多变的环境光影响,对小车的软件部分进行设计,研究了环境光对CCD成像的影响及处理方案。该小车采用飞思卡尔MK60DN512ZVLQ10单片机,TSL1401CL线性CCD,软件上基于自适应曝光策略与白线提取、找凹槽算法,实现环境光优化、路径识别与车速控制。实验结果表明,可以实现基于视觉的自主决策行驶。

Key explores the vision-based autonomous decision-making in the competitive environment of the car ambient light self-regulation, ambient light for complex, part of the car＇s software was designed to study the environmental impact of light on the CCD imaging and treatment options. The car MK60DN512ZVLQ10 Freescale microcontroller, TSL1401CL linear CCD, software strategy based on adaptive exposure and white line extraction algorithm to find the groove, to achieve optimization of ambient light, the path identification and speed control. Experimental results show that can be achieved with vision-based autonomous decision-making.