基于线性CCD的路径识别算法研究

摘要

To the ninth nationaI coI ege students freescaIe inteI igence car competition as the background,inteI igent vehi-cIe based on Iinear CCD sensor is introduced in this paper and the controI aIgorithm for image acquisition and image pro-cessing and recognition.Using 32-bit MCU MKL26 series microcontroI er freescaIe semiconductor,sensor coI ected road in-formation and speed,and through image anaIysis processing to extract the track information,and then identify the path, makes the controI of the inteI igent car steering,the steering gear for the dc motor speed reguIation,so as to reaIize inteI i-gent car fast tracking moving smoothIy.%介绍了基于线性CCD传感器智能小车图像采集以及图像处理与识别的控制算法。使用飞思卡尔公司的32位单片机MKL26系列单片机，获取传感器采集到的路面信息及车速，经过图像分析处理提取赛道信息，进而识别路径，使得控制智能车的舵机转向，同时对直流电机进行调速，从而实现智能小车快速平稳地循迹行驶。实验证明：该系统能很好地满足智能车对路径识别性能的要求，具有较好的动态性能和较强的鲁棒性。