| In this paper,the four-wheel intelligent car of the photoelectric group in the "NXP" cup intelligent car competition is taken as the design object,and its control system is designed to realize the visual recognition of the track and the car's autonomous patrol along the track:1.According to the competition rules of the "NXP" cup smart car competition,in order to improve the speed and stability of the car in the curve and other places,a 3D model of the car body is established in the V-REP environment,and the center of gravity of the car body is reduced by simulation and the reasonable Center of gravity is set.2.According to the competition rules,K66 single chip microcomputer is chosen as CPU,MT9V034 camera is selected as the visual acquisition sensor.At the same time,the voltage adjustable circuit of the steering gear,the full bridge driving circuit of the motion control motor,the interface circuit and power circuit of the sensor are designed.3.Based on the gray image denoising and binary operation,the algorithm of track contour and virtual center line is designed.At the same time,the feature elements of each track are extracted according to the starting line,straight line,island ring,curve and cross track,and the recognition algorithm of each track is designed according to these characteristics,4.In order to realize the car not to run out of the track in various tracks and keep it as far as possible in the middle of the track,the motion modeling of the car is carried out,and the steering gear control algorithm is designed to achieve the expected purpose.5.In order to realize the high speed movement of the car in various tracks,the mathematical model of the motor is established and PID control algorithm is designed.On this basis,the integral separation PID and incomplete differential PID controller are designed according to the actual situation of the car.The simulation and experimental results show that the expected target is achieved. |
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