自循迹移动靶车控制系统设计

基于传统轨道式移靶车的运动路线单一且不易变更，给射击也带来跳弹的隐患。提出一种以普通的色带为引导，通过摄像头动态识别路径的新型自循迹移动靶车控制系统。该系统以ATMega128单片机为控制核心、以OV7620摄像头模块为信息采集元件，并采用增量式PID电机控制算法控制靶车在速度不高于1．5m／s、转向曲率小于0．2时能够自主识别移动路径。

Design of control system of automatic target vehicle

Because the track of traditional mobil target becomes more difficult, moving line of it is single,and the hidden problem of jumpping bullet is existed,a new automatic tracking mobil target vehicle comes out in order to suffice the shooting need of mordenization and more subjects. This control system uses common color bands as guide lines,gets the image information through the vehicle carried camera,the controlled target vehicle moves automatically based on its target and speed set before. The system based on ATMega128 uses the OV7620 camera as the information collection component and incremental PID algorithm,controls the target vehicle to move autonomously when its speed is no more than 1.5mps and curvature is less than 0.2