基于视觉导引的气垫悬浮无人车路径跟踪控制系统设计  

Design of Path Following Control System for Air Cushion Vehicle Based on Visual Guidance

作　　者：李超 查雯倩 郭文龙 高双 

机构地区：[1]绍兴文理学院机械与电气工程学院,浙江绍兴312000 [2]西安交通大学电气工程学院,陕西西安710049

出　　处：《工业控制计算机》2024年第12期92-93,96,共3页Industrial Control Computer

基　　金：浙江省自然科学基金项目(LQ22E090007)。

摘　　要：针对气垫悬浮车的行驶稳定等问题,设计了基于视觉引导的气垫悬浮无人车路径跟踪控制系统。给出了气垫悬浮无人车路径跟踪控制系统的硬、软件设计方案,包括电机驱动模块、视觉识别摄像头等。基于Python设计了视觉识别系统,通过嵌入式技术实现气垫悬浮无人车的状态观测和巡线跟踪控制。实验结果表明,所设计的气垫悬浮无人车在稳定行驶的基础上可实现行驶状态保持和巡线跟踪,满足设计要求。Aiming at the problems such as traveling stability of air cushion vehicle(ACV),the path following control system of ACV based on visual guidance is designed.This paper gives the hard and software design scheme of the path following control system of the ACV,including the motor drive module,visual recognition camera and so on.The visual recognition system is designed based on Python,and the state observation and path following control of the ACV is realized through embedded technology.The experimental results show that the designed ACV can realize driving state keeping and path following on the basis of stable driving,which meets the design requirements.

关 键 词：气垫悬浮车 视觉导引 路径跟踪 无人车 控制系统 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] TP391.41[自动化与计算机技术—控制科学与工程]