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Research on System Architecture and Navigation Strategy of Intelligent Vehicle
Author: YanZhenNi
Tutor: DuanZhongXing
School: Xi'an University of Architecture and Technology
Course: Computer System Architecture
Keywords: Architecture Information Fusion Fuzzy Comprehensive Evaluation Fuzzy logic inference
CLC: TP242
Type: Master's thesis
Year: 2010
Downloads: 167
Quote: 0
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Abstract
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The mobile robot is an important branch of robotics , autonomous navigation is the mobile robot research focus , environment perception and path planning is a key technology to achieve autonomous navigation . Mobile robot model - smart car , focus on the architecture of the smart car navigation strategy . Architecture through analysis and contrast a variety of architecture special cook , according to the requirements of the smart car navigation , autonomous hybrid architecture , the use of dual-CPU parallel processing environment perceived by the CCD image sensor and ultrasonic sensor information is the car autonomous navigation provides experimental platform . Sobel operator of the the CCD acquisition target image binarization processing in multi - source information processing , use , dynamic threshold on the the the CCD road image feature extraction , identification of obstacles in advancing the goals and potholes ; against multi- ultrasonic sensor information , the proposed obstacle avoidance algorithm based on fuzzy comprehensive evaluation method of the multi-sensor information fusion proved by experiments that the algorithm can effectively achieve the smart car 's autonomous obstacle avoidance . Path planning based on fuzzy logic inference path selection algorithm, which results based on the integration of road and obstacle information , the car the best path selection and autonomous navigation based on fuzzy reasoning rules . The simulation and experimental results demonstrate that the proposed algorithm can achieve the autonomous navigation of the car in a more complex environment .
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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Robotics > Robot
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