Research on Camera-Oriented Smart Car and Intelligent Control

摘要

This paper designs a camera-oriented smart car along with specialized intelligent control algorithms. MC9S12XS128 is chosen as the central processing unit and a CCD sensor along with peripheral circuit is designed as the camera module. The proposed system integrates technologies of intelligent control, Micro-Electro-Mechanism System (MEMS), System on Chip (SOC), wireless communication and low power consumption embedded technology, realizing autonomous navigation while tracking the path. In the paper, the extraction of path information is streamlined, where dynamic threshold method is used for image binarization and path optimization is done with least square method. Control algorithms are highlighted, where servo control incorporates least squares method creatively and the DC motor control, forming a closed-loop system with a rotatory encoder, adopts incremental PID control algorithm.