CAJ | 학술논문

提出一种自动引导小车控制系统的设计方案。以STM32单片机为核心处理器，采用视觉导引方式，使用摄像头来获取路面信息，通过边缘检测方法提取轨道黑线，求出小车与黑线间的位置偏差，通过速度传感器实时获取小车速度，结合PID控制算法完成对小车电机和舵机的反馈控制。通过硬件系统测试，结果表明系统能在测试环境下实现自主稳定运行，达到了对小车自动控制的功能要求。
제출일충자동인도소차공제계통적설계방안。이STM32단편궤위핵심처리기，채용시각도인방식，사용섭상두래획취로면신식，통과변연검측방법제취궤도흑선，구출소차여흑선간적위치편차，통과속도전감기실시획취소차속도，결합PID공제산법완성대소차전궤화타궤적반궤공제。통과경건계통측시，결과표명계통능재측시배경하실현자주은정운행，체도료대소차자동공제적공능요구。
Propose an automatic guided vehicle control system design. In STM32 microcontroller core processor, using visual guide way, using cameras to get road information extracted by the black line track edge detection method, find the position deviation between the car and the black line, real-time access to the car speed by a speed sensor, combined PID control algorithm to complete the car motor and servo feedback control. Hardware system test results show that the system can achieve independent and stable operation in a test environment to achieve the automatic control of the car functional requirements.