基于CCD摄像头智能循迹小车的研究与开发

摘要

In this paper,in order to realize the tracking of the intelligent track car on the designated track,the hardware design,circuit design and control algorithm in the course of the design and development of the track car are de-scribed in detail in this paper.The vehicle obtains the current road condition by analyzing and processing the image infor-mation collected by the CCD camera,controls the traveling direction through the steering gear,and controls the driving of the track car through a closed-loop incremental PID control method.The experimental results show that the intelligent tracking car can achieve better tracking function in actual operation,performs well under different lighting conditions,and has strong anti-interference ability and stable operation.%为实现智能循迹小车在指定赛道上的循迹行驶,详细阐述了循迹车设计开发过程中的硬件设计,电路设计以及控制算法的研究.循迹车通过分析处理CCD摄像头采集到的图像信息获得当前道路情况,舵机进行行进方向的控制,闭环增量式PID控制方法进行驱动控制.结果表明,智能循迹小车在实际运行过程中能够较好的实现循迹功能,在不同的光照条件下,整车抗干扰能力较强,运行情况较为稳定.