摘要
文中的智能小车循迹系统以TC264芯片作为中央处理器,运用图像压缩及二值化等方法来处理摄像头采集到的道路信息,并结合双编码器获取左右后轮的速度反馈给中央处理器,通过模糊控制+PID的控制算法来控制舵机的旋转角度和电机转速,最终实现在特定环境下的自动循迹功能。经过百余次测试,证明了该系统能够在多种不同道路环境之下做出与预期相符的运动控制,稳定且可靠地实现了自动循迹功能。
Based on TC264 chip as the central processor,the intelligent car tracking system of this project was used image compression and binarization to process the road information collected by the camera and combines with double encoders to feedback the speed of left and right wheels to the CPU and used fuzzy and PID control algorithm to control the gear rotation angle of steering engine and the speed of two motors.Intelligent car automatic tracking can be realized.More than 100 tests proved the system can make corresponding control in a variety of different road environments,and finally achieve stable tracking function.
作者
曹永豪
刘付永红
张钿钿
郭沈燕
黄亮亮
王汝瀚
CAO Yonghao;LIU Fuyonghong;ZHANG Tiantian;GUO Shenyan;HUANG Liangliang;WANG Ruhan(School of Automation Science&Engineering,South China University of Technology,Guangzhou 510641,China;School of Physics and Optoelectronics,South China University of Technology,Guangzhou 510641,China;School of Materials Science&Engineering,South China University of Technology,Guangzhou 510641,China)
出处
《电子设计工程》
2023年第24期24-28,共5页
Electronic Design Engineering
基金
广东省自然科学基金(2019815102057)。
关键词
智能车
图像处理
PID控制算法
模糊控制
自动驾驶
intelligent car
image processing
PID control algorithm
fuzzy control
autonomous driving
