摘要
基于NXP嵌入式控制芯片的智能车,提出用于追寻信标的自主导航策略.采用基于连通域图像的扫描算法,对摄像头图像进行扫描与滤波,从而得出正确的发光信标位置;采用基于映射关系的畸形矫正算法,通过映射公式对发光信标的图像进行畸变矫正;采用线阵CCD摄像头与接近开关相结合的方法作为避障策略.经实验测试与竞赛检验,该导航策略具有较高的行驶效率以及较低的误判率.
The automatic navigation strategy for the tracing beacons was proposed based on the embedded control chip of NXP.The scanning algorithm based on the connected domain image was adopted to scan and filter the camera image.The correct position of the luminous beacon was obtained.The image distortion correction algorithm based on mapping relation was adopted to correct the image distortion of luminescent beacon by mapping formula.The method of combination of linear CCD camera and proximity switch was adopted as the obstacle avoidance strategy.The experimental and competition test results indicated that the navigation strategy had high driving efficiency and low misjudgment rate.
作者
唐小煜
劳健涛
李智豪
蒲小年
戚慧珊
胡静宜
TANG Xiao-yu;LAO Jian-tao;LI Zhi-hao;PU Xiao-nian;QI Hui-shan;HU Jing-yi(School of Physic and Telecommunications Engineering,South China Normal University,Guangzhou 510006,China)
出处
《物理实验》
2018年第7期43-46,50,共5页
Physics Experimentation
关键词
智能车
自动导航
竞赛策略
intelligent car
automatic navigation
competition strategy