摘要
基于AM335X微控制器设计一款具有GPS定位、视觉识别、自动避障、轨迹跟踪等功能的智能车。使用超声波传感测距;使用GPS定位,摄像头路障识别和路径规划;搭载无线通信模块,实现对智能车的远程控制和监测;利用PID算法实现车辆后轮驱动和前轮转向控制。车的硬件主要包括微处理器模块、电源模块、电机驱动模块、通信模块、导航定位模块和避障模块。控制系统中加入PID算法实现车辆前进驱动控制和转向控制,并进行了仿真验证和实车实验。
Based on AM335X microcontroller,a smart vehicle with GPS positioning,visual recognition,automatic obstacle avoidance,trajectory tracking and other functions is designed.Using ultrasonic sensing for ranging;Use GPS positioning and camera roadblock identification and path planning;It is equipped with wireless communication module to realize remote control and monitoring of intelligent vehicle.PID algorithm is used to realize vehicle rear wheel drive and front wheel steering control.The hardware of the vehicle mainly includes microprocessor module,power module,motor drive module,communication module,navigation and positioning module and obstacle avoidance module.PID algorithm is added to the control system to realize the vehicle forward drive control and steering control,and simulation verification and real vehicle experiment are carried out.
作者
于飞
孙佳
YU Fei;SUN Jia(School of Automation and Electrical Engineering,Qingdao University of Science and Technology,Shandong Qingdao 266100,China)
出处
《工业仪表与自动化装置》
2021年第3期138-143,共6页
Industrial Instrumentation & Automation
基金
国家自然科学基金(61803219)。
关键词
轨迹跟踪
智能车
AM335X
卫星定位
trajectory tracking
smart vehicle
AM335X
satellite positioning
