Design And Implementation Of Tracing Car Based On ARM

Tracking car as a special robot, it can be used to achieve a specific target tracking, and widely used in the design of the service robot. It is a comprehensive product that combines the advanced technology in many areas, including sensor technology, embedded artificial intelligence, image processing, automatic control, etc. In order to track people, we design a smart car to track label, and the car has a good potential for development, is an excellent experimental platform.After the research of intelligent vehicle and visual tracking status we had work done in three areas.Firstly, we designed a simple smart car hardware system which is based on the S3C2440development board. The hardware structure of the car comprises a motor module, video detection module, power supply module and embedded module.Secondly, we designed image processing programs and vehicle tracking control strategy for the purpose of tracking. In the image processing process, we used two ways, template matching and shape feature detection, to detection the label, and the identification of the two types of results is compared and analyzed. The results proved that feature detection method is more superior performance for our tracking; inclined deformation problem of label in the process of moving target have been given, and the solutions are put forward in this paper; the tracking control strategy for vehicle is discussed; data obtained from the image processing were processed again to establish the reality of the coordinate system; choose the PID as the core of the motion control mode, and the car driver circuit output PWM wave to control motor movement.Finally, we designed and compiled car’s the software part, it mainly includes: completed the transplantation of embedded Linux system, the key of transplant is OV9650camera driver programming which located among the embedded Linux kernel; and completed the video capture program which based on V4L2system; completed the transplantation of the function library OpenCV, and combined with the library, we compiled image processing programs.After the design we completed the test on the car for a simple linear tr-acking and steering tracking, basically can achieve the expected tracking goals.