基于视觉导引的气垫悬浮无人车路径跟踪控制系统设计
Design of Path Following Control System for Air Cushion Vehicle Based on Visual Guidance
李超 1查雯倩 1郭文龙 1高双2
作者信息
- 1. 绍兴文理学院机械与电气工程学院,浙江 绍兴 312000
- 2. 绍兴文理学院机械与电气工程学院,浙江 绍兴 312000;西安交通大学电气工程学院,陕西 西安 710049
- 折叠
摘要
针对气垫悬浮车的行驶稳定等问题,设计了基于视觉引导的气垫悬浮无人车路径跟踪控制系统.给出了气垫悬浮无人车路径跟踪控制系统的硬、软件设计方案,包括电机驱动模块、视觉识别摄像头等.基于Python设计了视觉识别系统,通过嵌入式技术实现气垫悬浮无人车的状态观测和巡线跟踪控制.实验结果表明,所设计的气垫悬浮无人车在稳定行驶的基础上可实现行驶状态保持和巡线跟踪,满足设计要求.
Abstract
Aiming at the problems such as traveling stability of air cushion vehicle(ACV),the path following control sys-tem of ACV based on visual guidance is designed.This paper gives the hard and software design scheme of the path fol-lowing control system of the ACV,including the motor drive module,visual recognition camera and so on.The visual recog-nition system is designed based on Python,and the state observation and path following control of the ACV is realized through embedded technology.The experimental results show that the designed ACV can realize driving state keeping and path following on the basis of stable driving,which meets the design requirements.
关键词
气垫悬浮车/视觉导引/路径跟踪/无人车/控制系统Key words
air cushion vehicle/vision guidance/path following/unmanned vehicle/control system引用本文复制引用
出版年
2024
NETL
NSTL
万方数据