基于FSMC的结构化道路视觉导引系统

摘要

针对结构化道路特征提出一种道路边沿检测和模糊推理相结合的视觉引导算法，结合外部设备和基于 ARMCortex-M4核心的 MK60芯片，实现了一套简单的视觉导航移动平台；在该设备上进行实验表明，本系统能够实时获取道路边界及相应的虚拟导引线，模糊推理机判断路况的准确率为93％以上，行驶过程中的归一化偏差在0．2m 以内，根据模糊推理结合模糊滑模控制能够使该移动平台在合理路径上稳定行驶。%Combining the algorithm for the road edge detection and fuzzy reasoning,with external devices and system based on MK60 chip ARM Cortex-M4core,achieve a simple visual navigation of mobile platform.Experimental results on the device told that the system can obtain real-time road boundary and the corresponding virtual guide wire,and according to fuzzy inference control of the mobile platform in the reasonable path stability.