視觉小车实验报告(王薛东,陈文略,文飞组).docxVIP

Control System Course DesignObstacle avoidance vehicleMajor: Control Science and Engineering Student Name: Wang Xuedong, Wenfei, Chen WenlueInstructor: Associate Prof Li Jiangang, Huang RuiningDate: 2010-01-10AbstractIn this paper, we use laser-based identification method to achieve efficient and reliable identification, at the same time the use of computer vision and real-time processing makes the system an adaptable and intelligent features. This paper presents a new obstacle avoidance control algorithm (WF algorithm), in this algorithm by the introduction of a bold weighting coefficient obstacle distance, and through a large number of experiments we get the car equation model on the barrier width and the linear distance. Based on this algorithm the system can adapt to the eventual realization of a fast-moving and more complex environment of the obstacle avoidance trolley integrated system.Keywords: obstacle avoidance car, WF algorithm, laser identification，Microcontroller CommunicationCONTENT1 INTRODUCTION22 OVERALL DESIGN32.1 Program preparation32.2 Program Comparison32.3 Program to determine42.4 System Diagram43 THE VISUAL PART53.1 Image processing platform53.1.1 Using DirectShow to capture the webcam video stream53.1.2 using OpenCV to process image53.2 Camera calibration63. 3 Image processing83.3.1 Extract laser line83.3.2 Detecting the laser peak83.4 Calculating the laser plane93.5 Calculating the 3D points of the object103.6 WF Control Algorithms103.6.1 Single-barrier situation103.6.2 Multi-obstructions situation113.6.3 U-line obstacles113.6.4 WF algorithm flow chart124 SINGEL CHIP MICROCOMPUTER PART134.1 Serial Communication134.2 PC-establishment of communication procedures154.3 Motor drive174.4 SCM Flowchart195 RESULTS, CONCLUSION AND FUTURE WORK205.1 Results205.2 Conclusion205.3 Future work20REFERENCES21CHAPTER 1INTRODUCTIONAt present there are several ways to achieve mobile robots sensing the environment, such as radar, stereo vision, etc., but th