| 智能车黑线识别算法及控制策略研究 |
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| 引用本文： | 张淑谦,王国权.智能车黑线识别算法及控制策略研究[J].电子技术,2009,46(3):89-92. |
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| 作者姓名： | 张淑谦 王国权 |
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| 作者单位： | 北京信息科技大学,机电工程学院 |
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| 基金项目： | 北京市教育委员会科技发展计划面上项目 |
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| 摘 要： | 首先简单介绍了摄像头的工作原理以及采集到的图像数据信息特点，在此基础上提出并研究了识别赛道黑线的边缘检测算法，接着通过实验确定了区分黑白色的阈值参数。最后根据提取到的黑线信息确定了能预判前方赛道的非线性PD控制算法，使赛车获得了较快的行驶速度和可靠的转向性能。
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| 关 键 词： | 图像采集 边缘检测 PD控制 转向舵机 |
Research of distinguish black line and control strategy of the smartcar |
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| Zhang Shuqian,Wang Guoquan.Research of distinguish black line and control strategy of the smartcar[J].Electronic Technology,2009,46(3):89-92. |
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| Authors: | Zhang Shuqian Wang Guoquan |
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| Affiliation: | Mechanical electronical Engineering College;Beijing Information Science&technology university |
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| Abstract: | In this paper we beifely introduct the principle of the camera and the characteristics of the image data first,on the base of this,we demonstrates the edge-detecting method of the black line,then we get the threshold difference value between black pixels and white pixels.In the last,we demonstrates the non-linear PD control arithmetic based on the black line information obtained before,so the smartcar have a faster speed and steady turning capability. |
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| Keywords: | image acquire edge detective PD control steer control |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
