智能循迹小车设计  

Design of intelligent tracking car

作　　者：韩彩霞 黄艺 罗子波 HAN Caixia;HUANG Yi;LUO Zibo(Wuhan College of Arts and Sciences,Wuhan 430345,China)

机构地区：[1]武汉文理学院,湖北武汉430345

出　　处：《电子设计工程》2023年第23期58-62,共5页Electronic Design Engineering

基　　金：湖北省教育厅科研计划项目指导性项目(B2016467);武汉文理学院校级科研项目(2020XK04)。

摘　　要：针对全国大学生智能汽车竞赛要求,使用英飞凌TC264单片机、MT9V034灰度摄像头设计可以自主寻迹的小车。采用大律法将灰度图像转换为黑白图像,采用变中线扫描的方式提取赛道边界获取中线进行寻迹。利用特殊行、特殊列及电感特殊值处理特殊元素进行补线处理,并运用椭圆补线方法处理环岛,三岔路采用单边拉线方法。通过在十六届竞赛赛道的实际验证,该小车工作可靠、抗干扰能力强,利用人机交互界面可实现快速适应新的比赛环境,对不同的赛道有较强的适应性和稳定性。Aiming at the requirements of the National Intelligent Car Competition for college students,a car that can track independently is designed by using Infineon TC264 MCU and MT9V034 gray scale camera.The gray image is converted into black and white image by Otsu method,the track boundary is extracted by means of variable center line scanning.Special row,special column and special value of inductance are used to deal with special elements,the method of ellipse complement is used to deal with circular island,and the method of single side pull is used for three branch roads.Through the sixteen race track actual verification,the car works reliably,anti-interference ability is strong,the use of human-computer interaction interface can quickly adapt to the new race environment,has strong adaptability and stability to different tracks.

关 键 词：大津法 补线 椭圆补线 单边拉线 人机交互 

分 类 号：TN409[电子电信—微电子学与固体电子学]