基于路径记忆算法的智能小车控制系统的设计

摘要

针对智能小车视觉导航中图像处理复杂和路径数据存储量大的问题,介绍了一种基于路径记忆算法的智能小车控制系统.通过推导小车转向控制角和摄像头检测出的路径横向偏差之间的简洁关系,实现对小车的运动控制,提高了系统的实时性和控制精确度.并提出了一种将数学形态学滤波算法和行程编码算法结合用于路径记忆的新方法,该方法占用的存储空间小、计算量小,可满足嵌入式系统实时性要求.%With respect to the complex of image process and the large quantity of route memorization data, a smart car based on route memorization algorithm is introduced in this paper. In order to realize the smart car' s motion control and improve the system real-time performance and control precision, the relation between the steering 8angle and the path lateral deviation are derived. Then a new route memorization method based on mathematical morphology and Run Length Encoding (RLE) is proposed. The method is simple and effective, which can meet the real-time requirements of embedded systems.