巡线导航智能车的路径优化

针对现实应用中的巡线导航智能车道路检测范围小、路径规划困难的问题，提出增加传感器随动舵机的巡线导航智能车路径优化算法。安装随动摆头舵机带动传感器运动，增大传感器的路径识别范围。采用局部路径优化的方法，构建一个导航传递关系，用以在传感器数据和智能车行驶控制之间建立映射。实验结果表明，增加传感器随动舵机的巡线导航智能车在采用路径优化算法之后视觉范围增大，能改善巡线导航智能车的行驶性能，提高了寻线的可靠性，增大了巡线速度。

Path Optimization of Line-tracking Navigation Smart Car

Aiming at conventional smart car small visual range which affects path optimization, this paper proposes a control system of intelligent line-tracking vehicle with large vision based on servo driven sensor movement. It installs a servo driving motion sensor, increases the sensor range of the path identification. It uses a local path optimization, construction of a transitive relation, to create a mapping between sensor data and intelligent control of vehicle driving. Experimental results show that, installing a servo drive motion sensor and using a local path optimization, this control system increases path identification range, improves driving performance and the reliability of search lines, and increases the speed of transmission line.