Design And Implement Of ARM-based Tracing Car Controller

With the advancement of the visual sensor,image processing technology,highly integrated motor technology,it provides technical support for the intelligent tracing car.Intelligent car system is an automation technology which set hardware and software in one,it integrates automatic control,image handling,computer,communications and other technologies.Intelligent tracing car takes a significant advantage in a hazardous environment detection,search and rescue,etc.it also provides a guideline for the realization of future unmanned technology.This contents studied in this article are as followed:Firstly,a detailed description for researching status of the intelligent tracing car at home and abroad is studied,intelligent cars studied in foreign and domestic ones studied by several universities are introduced in the article,we still have some gaps in the research field of intelligent vehicles with foreign countries,by the mean,it also introduces practical significance of the study for intelligent car.Secondly,several designs for intelligent car were compared and determines visual tracking program as the final selection.A selection of hardware for intelligent car is conducted,and ultimately selected ST's STM32 chip as main controller,meanwhile,the OV7670 camera is selected as a visual collecting sensor,LMD12800 drive motor is closed as drive motor of the intelligent car,and MG995 servos as rudder steering controllers and other selections.Third,a design and implementation for the overall hardware and each module is achieved according to the selected controller and chips.Fourth,the intelligent car acquisites road image and conduct image pre-processing work,through the image optimization and processing,the location information of the intelligent car is identified at operating status among the guide line,and obstacles.At the same time,intelligent car obstacle avoidance algorithm based on experts reasoning is proposed to determine the needed deflecting angle of servo and the set value of servo motor speed.Fuzzy control algorithm is adopted for precise steering deflection angle control,and intelligent PID control algorithm is used for accurate control of motor speed.Fifth,some simulation experiments are conducted,results show that the intelligent car designed meet the design requirements,then the intelligent car has been tested for hardware and obstacle avoidance.