陈二阳,张修军,袁姜红

• 1:成都大学信息科学与工程学院
• 2:成都理工大学地球物理学院
• 3:四川文轩职业学院

摘要(Abstract)：

结合图像识别、模糊自适应PID控制等算法,设计并实现一种自主驾驶智能小车。以NXP的微控制器MK60N512VMD100为核心控制单元,通过CMOS摄像头OV7725检测并分析跑道信息,利用512线光电编码器测定小车的运行速度,并将速度和方向参数反馈给电机和舵机,结合PID算法实现闭环控制。经过多次在实验室模拟跑道实测发现,小车运行轨迹控制较为精确,速度平稳,具备较强的环境适应能力。

关键词(KeyWords)： 图像识别;模糊自适应PID控制;智能小车;CMOS摄像头;光电编码器;闭环控制

Abstract:

Keywords:

基金项目(Foundation): 国家重点研发计划项目子课题(2016YFB0800604);; 国家自然科学基金青年基金(61601063);; 四川省教育厅科研项目(18ZA0123;17ZA0340);; 成都大学·龙泉驿区汽车创意设计试点区项目(2015-CX00-00010-ZF);成都大学本科教育教学改革项目(cdjgb2017020;cdjgb2017080;cdjgb2017066)~~

作者(Author): 陈二阳,张修军,袁姜红

DOI: 10.16652/j.issn.1004-373x.2018.18.038

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