| 基于FPGA的视觉导航小车设计与实现 |
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| 引用本文： | 郑新钱,王辅明,马华,林云,张伟.基于FPGA的视觉导航小车设计与实现[J].厦门大学学报(自然科学版),2012,51(3):331-335. |
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| 作者姓名： | 郑新钱 王辅明 马华 林云 张伟 |
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| 作者单位： | 厦门大学物理与机电工程学院,福建厦门,361005 |
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| 摘 要： | 视觉导航作为新兴起的技术,受众多研究者的青睐.设计了以现场可编程门列阵(FPGA)为控制核心的自主导航小车,采用一种新颖的自适应路径识别算法实现路径的识别与提取,并结合圆弧路线规划和控制策略完成小车的自主导航控制.自适应路径识别算法使导航小车可以适应多种光照和路面条件.测试结果表明,小车能够在不同光照条件下的实验室和露天田径跑道环境中实现较好的导航效果,在田径跑道上的导航测试中,小车的最高运行速度达到3.5 m/s.
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| 关 键 词： | 视觉导航 智能小车 现场可编程门列阵 |
The Implementation of Visual Navigation Car Based on FPGA |
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| ZHENG Xin-qian
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WANG Fu-ming
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MA Hua
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LIN Yun
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ZHANG Wei.The Implementation of Visual Navigation Car Based on FPGA[J].Journal of Xiamen University(Natural Science),2012,51(3):331-335. |
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| Authors: | ZHENG Xin-qian WANG Fu-ming MA Hua LIN Yun ZHANG Wei |
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| Institution: | (School of Physics and Mechanical & Electrical Engineering,Xiamen University,Xiamen 361005,China) |
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| Abstract: | As a new technology,visual navigation has gained a lot of interests.We designed a visual navigation model car with field programmable gate array as central control unit.A novel adaptive track recognition algorithm and a circular arc navigation planning strategy were used in this navigation car.The adaptive track recognition algorithm enabled the model car to navigate visually in multiple lighting and tracking conditions.The ability of our model car to navigate correctly in different indoor and outdoor conditions was demonstrated.During tests on an open track field,the car was to run with a maximum speed of 3.5 m/s while navigating accurately. |
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| Keywords: | visual navigation autonomous car field programmable gate array |
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