摘要
以全国大学生智能汽车竞赛为平台,设计了基于摄像头循迹的麦克纳姆轮小车实验系统。使用摄像头传感器采集动态小车图像,以两块CH32C8T6嵌入式芯片作为系统板的主核和副核处理图像数据,用大津法求出动态阈值对采集图像进行二值化处理,计算提取赛道特征点,对各种赛道类型进行识别并自动纠正小车行驶方向,规划行驶轨迹。应用位置式PID算法对智能车的行驶速度进行闭环控制,提高小车行驶稳定性。实验系统与学生课外科创竞赛相结合,对提高学生的专业综合能力和实验教学质量起到了很好的推动作用。
With the National University Students Intelligent Car Race as the platform,an experimental system of McNamum wheel car based on camera tracking is designed.Two CH32C8T6 embedded chips are used as the main core and secondary core of the system board to process image data.Dynamic threshold values are obtained with Otsu method to binarize the acquired images.Track feature points are calculated and extracted.Various track types are identified.The direction of the car is automatically modified,and the track is planned.The position PID algorithm is used to control the speed of the intelligent vehicle in a closed loop to improve the stability of the vehicle.The combination of the experimental system with students’extracurricular science and innovation competition has played a good role in promoting the improvement of students’professional comprehensive ability and the quality of experimental teaching.
作者
徐桂敏
张艺潇
XU Guimin;ZHANG Yixiao(School of Physics and Mechanical&Electrical Engineering,Hubei University of Education,Wuhan 430205,China)
出处
《湖北第二师范学院学报》
2025年第8期20-26,共7页
Journal of Hubei University of Education
基金
2024年度湖北第二师范学院教学研究项目“基于知识图谱的电子信息类专业AI数智化课程建设研究”(X2024006)
2025年度教育部产学合作协同育人项目“AI赋能人工智能实践教学师资培训”。
