基于STM32单片机的自动引导小车控制系统设计

摘要

Propose an automatic guided vehicle control system design. In STM32 microcontroller core processor, using visual guide way, using cameras to get road information extracted by the black line track edge detection method, find the position deviation between the car and the black line, real-time access to the car speed by a speed sensor, combined PID control algorithm to complete the car motor and servo feedback control. Hardware system test results show that the system can achieve independent and stable operation in a test environment to achieve the automatic control of the car functional requirements.%提出一种自动引导小车控制系统的设计方案。以STM32单片机为核心处理器，采用视觉导引方式，使用摄像头来获取路面信息，通过边缘检测方法提取轨道黑线，求出小车与黑线间的位置偏差，通过速度传感器实时获取小车速度，结合PID控制算法完成对小车电机和舵机的反馈控制。通过硬件系统测试，结果表明系统能在测试环境下实现自主稳定运行，达到了对小车自动控制的功能要求。