智能车竞赛中的运行稳定性探究

Research on the operational stability in smart car competition

以追寻信标的智能车竞赛为例,探讨了智能车在运行过程保证稳定性的要素并提出了改进型处理方式.采用滤光片结合遮光板的CMOS摄像头,并对摄像头图像进行滤波,提高了图像识别稳定性;采用增量式PID算法和前馈-微分先行式PID算法分别控制舵机和电机,提高了姿态控制稳定性;采用线性CCD、红外对管、轻触开关、倾倒保护开关检测突发情况,并利用舵机、电机规避突发情况,提高了突发处理稳定性.

Taking the smart car competition of beacons as an example, key factors to ensure the stability in smart car operation were discussed and the improved treatment mode was also put forward. Using CMOS camera with filter combined the visor and image filteration, the stability of image recognition was raised. Incremental PID algorithm and feed-forward differential predecessor PID algorithm were adopted to controlled the steering gear and the motor, respectively, to raise the stability of attitude control. Many sensors, such as linear CCD, infrared pair tube, tact switch and dump protection switch, were used to detect emergency situation, and steering gear and motor were used to respond to emergencies. Thus, the stability of emergence processing was improved.