Route Identification and Direction Control of Smart Car Based on CMOS Image Sensor

Author

Xiuquan, Wang ; Xiaoliu, Shen ; Xiaoming, Chang ; Ying, Chai

Author_Institution

Dept. of Comput. Sci. & Technol., North China Electr. Power Univ., Beijing

Volume

2

fYear

2008

fDate

3-4 Aug. 2008

Firstpage

176

Lastpage

179

Abstract

This paper is designed for the 2nd Freescale Cup National Undergraduate Smart Car Competition. With MC9S12DG128 single chip and smart car model supplied by the committee, a CMOS image sensor is applied to detect the black track on white raceway, which extends the detection range and is helpful to predict the forward path. In this paper, ten-line pixels in an image are analyzed to locate the black track, and the PD algorithm based on PID is employed to control the direction and angle of the steering gear respectively. By repeated testing, the smart car can run stably on the given raceway at a high speed.

Keywords

CMOS image sensors; mobile robots; robot vision; telerobotics; three-term control; CMOS image sensor; PD algorithm; PID control; route identification; smart car direction control; ten-line pixels; CMOS image sensors; CMOS technology; Communication system control; Diodes; Infrared image sensors; Intelligent sensors; Pixel; Sensor arrays; Smart cameras; Timing; MC9S12DG128 single chip; PID algorithm; direction control; image sensor; route identification; smart car;

fLanguage

English

Publisher

ieee

Conference_Titel

Computing, Communication, Control, and Management, 2008. CCCM '08. ISECS International Colloquium on

Conference_Location

Guangzhou

Print_ISBN

978-0-7695-3290-5

Type

conf

DOI

10.1109/CCCM.2008.166

Filename

4609667