| 基于麦克纳姆轮的智能车寻迹控制策略研究 |
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| 引用本文： | 杨朋帅,王琪,王维西,周靖喻,高进可.基于麦克纳姆轮的智能车寻迹控制策略研究[J].工业控制计算机,2022,35(2):112-115. |
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| 作者姓名： | 杨朋帅 王琪 王维西 周靖喻 高进可 |
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| 作者单位： | 江苏科技大学苏州理工学院,江苏 张家港 215600,南京信息工程大学自动化学院,江苏 南京 210044 |
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| 基金项目： | 国家自然科学基金项目（51906091）资助； |
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| 摘 要： | 为适应复杂工作环境运行需要,解决普通轮式小车在狭小空间内自如转向以及巡线不稳定和路径类型识别不准确的问题,设计了一种以摄像头为视觉传感器,以麦克纳姆轮为驱动的全向智能车.设计以CH32V103R8T6单片机为核心,以MT9V034灰度摄像头为视觉传感器,采用迭代法阈值对图像进行抗干扰灰度处理,通过智能车行驶中视觉道路宽...
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| 关 键 词： | 智能车 麦克纳姆轮 图像处理 寻迹 控制策略 |
Research on Tracking Controlstrategyof Intelligent Vehicle Based on Mecanum-wheel |
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| Abstract: | In order to adapt to the operation requirements of complex working environment,to solve the problems of ordinary wheeled car turning freely in a narrow space,unstable line patrol and inaccurate path type identification,designed a visual sensor that uses a camera,an omni-directional intelligent vehicle driven by Mecanum-wheels.This design takes CH32 V103 R8 T6 as the core,MT9 V034 grayscale camera as the visual sensor,the iterative threshold is used for anti-jamming grayscale processing of the image,by discriminating the visual road width and road condition characteristics of the intelligent vehicle during driving,determine the corresponding operation countermeasures,and use cascade PID to control the differential speed of Mecanum-wheel,to achieve fast and stable operation of intelligent vehicles.This smart car can eliminate the influence of light source changes,to achieve the purpose of automatic tracking,fast and stable operation. |
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| Keywords: | intelligent vehicle Mecanum-wheel image processing trailing control strategy |
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