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基于红外激光管的智能车设计 总被引:1,自引:0,他引:1
介绍了一种基于红外激光管的快速路径识别智能车系统.该智能车使用红外激光管作为路径检测装置,PD算法控制舵机转向,增量式PID算法控制直流电机驱动智能车前进,同时采用模糊控制算法进行变速,通过加长舵机转臂加速舵机响应,解决了系统的滞后问题,使小车能按照任意给定的黑色引导线平稳地寻迹. 相似文献
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介绍了基于MC9S12XS128单片机控制的智能车系统,该系统以CCD摄像头传感器作为路径识别装置,通过图像识别提取道路黑线信息,计算出反应道路形状的舵机控制量,对舵机进行控制。对智能车寻线舵机控制系统的软件设计思路和控制算法思想等进行了详细的论述。测试结果表明智能车能准确稳定地跟踪引导黑线行驶,该算法能够很好地对智能车进行控制。 相似文献
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基于模糊控制的路径识别智能小车设计 总被引:1,自引:0,他引:1
本文介绍了一种C语言实现的基于模糊控制的智能小车系统,通过小车的位置值和位置差值建立模糊系统,配合以速度PID控制,达到智能寻迹和速度匹配的目的。文章着重阐述了智能车的路径识别方法和用C语言实现模糊算法的方法。智能车系统核心控制单元采用了具有模糊指令的MC9S12DG128单片机。实践表明,采用模糊控制的智能小车在路径识别的精准度,稳定性,及速度控制上具有明显优势。 相似文献
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摄像头作为视觉信息采集工具被广泛运用到各种智能系统中。文中以全国大学生"飞思卡尔"杯智能车竞赛为背景。首先,通过选择CCD传感器进行路径识别,提取CCD的视频同步信号,控制单片机的A/D进行采集。由于复合视频信号中含有大量无效信息,采用外围芯片将视频信号分离,然后处理。对采集回来的视频数据进行二值化分割,去噪声处理,然后对信号进行滤波,提取黑线的中心位置,获取路径参数信息。一帧图像处理结束,根据图像的前视距离最近的黑线中心位置的偏移量和黑线斜率判断当前赛道信息,并结合预测算法,控制舵机的转向。使得小车能够保证稳定性的前提下,高速行驶。 相似文献
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基于红外光电传感器的智能车自动寻迹系统设计 总被引:10,自引:0,他引:10
介绍了一种自动寻迹智能车的设计,研究了采用红外反射式光电传感器作为路径采集模块实现自动寻迹的软硬件设计方法.系统采用Freescale 16位单片机MC9S12DG128为核心控制器,利用11个红外光电传感器构成的光电传感器阵列采集路面信息,单片机获得传感器采集的路面信息和车速信息,经过分析后控制智能车的舵机转向,同时对直流电机进行调速,从而实现智能车沿给定的黑线快速平稳地行驶.介绍了光电传感器的寻迹原理,讨论了光电传感器排列方法、布局、间隔等对寻迹结果的影响. 相似文献
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In this paper, we present a parallel dispatch model with secure route structures for protecting the dispatch route information of mobile agents. This model facilitates efficient dispatching of agents in a hierarchical manner, and ensures route security by exposing minimal route information to hosts. It also provides the capability for detecting attacks. Based on the secure dispatch model, two extensions are further presented. The first integrates parallel dispatch with small-scale serial migration to keep the number of mobile agents manageable while preserving similar dispatch performance. The second is a route robustness enhanced mechanism with substitute routes that allows temporarily unreachable hosts to be bypassed. We evaluated the various models both analytically and empirically, and report our findings here. 相似文献
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针对大部分现有替代路径共同存在的替代路径老化和构建效率问题,本文提出了一种基于跨层设计和蚁群优化的负载均衡路由协议(CALRA),利用蚁群优化算法特有的信息素挥发方法实现对替代路径的老化问题,将蚁群优化和跨层优化方法结合起来解决自组网中的负载均衡问题,通过双向逐跳更新的方式较好的解决了替代路径构建效率问题,并将蚂蚁在所经过的各中间节点为路由表带来的信息素增量映射为蚂蚁离开源节点的距离、移动过程中所遇到的节点拥塞程度、节点当前信息素浓度和节点移动速度等各协议层的统计信息的函数,通过对各种信息所对应的参数赋予不同加权值的方法对概率路由表进行控制,改善了自组网中现有基于蚁群优化的路由协议中普遍存在的拥塞问题、捷径问题、收敛速度问题和引入的路由开销问题.仿真表明,CALRA在分组成功递交率、路由开销、端到端平均时延等方面具有优良性能,能很好地实现网络中的业务负载均衡. 相似文献
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机载环境大气成分探测系统获取的大气信息与空间位置密切相关.为了提高探测精度,同时为后续的数据反演工作提供精确的空间参考信息,设计时在大气成分探测系统的主控管理器中集成了地理信息系统(geographic information system,GIS).利用GIS的空间数据管理、分析和图形显示、输出功能,实现了航线规划、... 相似文献
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六旋翼飞行器是一种新型的旋翼飞行器,文中主要针对该飞行器在航迹规划时的Voronoi算法进行了改进,优化了飞行器的航迹规划路线.通过对电院大草坪的树林作为障碍物的情况下,飞行器穿过树林到达空旷地方的航迹规划的数学建模发现,使用传统的Voronoi算法的航迹规划的距离为169.113m,使用改进的Voronoi算法的航迹规划的距离为152.8753m,比起传统的Voronoi算法规划出来的航迹的距离缩短了10.6%. 相似文献
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In this paper, we present a location aided knowledge extraction routing (LAKER) protocol for mobile ad hoc networks (MANETs). The novelty of LAKER is that it learns from past actions to guide future behaviors. In particular, LAKER can gradually discover current topological characteristics of the network, such as population density distribution, residual battery map, and traffic load status. This knowledge can be organized in the form of a set of guiding routes, each of which consists of a chain of guiding positions between a pair of source and destination locations. The guiding route information is learned by individual nodes during route discovery phase, and it can be used to guide future route discovery processes in a more efficient manner. LAKER is especially suitable for mobility models where nodes are not uniformly distributed. LAKER can exploit topological characteristics in these models and limit the search space in route discovery processes in a more refined granularity than location aided routing (LAR) protocol. Simulation results show that LAKER outperforms LAR and DSR in term of routing overhead, saving up to 30–45% broadcast routing messages compared to LAR approach. Copyright © 2006 John Wiley & Sons, Ltd. 相似文献
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Xiong Wang Luoyi Fu Yang Zhang Xiaoying Gan Xinbing Wang 《Wireless Communications and Mobile Computing》2016,16(17):2991-3003
Vehicular Ad Hoc Network (VANET) has been a hot topic in the past few years. Compared with vehicular networks where vehicles are densely distributed, sparse VANET have more realistic significance. The first challenge of a sparse VANET system is that the network suffers from frequent disconnections. The second challenge is to adapt the transmission route to the dynamic mobility pattern of the vehicles. Also, some infrastructural requirements are hard to meet when deploying a VANET widely. Facing these challenges, we devise an infrastructure‐less unmanned aerial vehicle (UAV) assisted VANET system called V ehicle‐D rone hybrid vehicular ad hoc Net work (VDNet), which utilizes UAVs, particularly quadrotor drones, to boost vehicle‐to‐vehicle data message transmission under instructions conducted by our distributed vehicle location prediction algorithm. VDNet takes the geographic information into consideration. Vehicles in VDNet observe the location information of other vehicles to construct a transmission route and predict the location of a destination vehicle. Some vehicles in VDNet equips an on‐board UAV, which can deliver data message directly to destination, relay messages in a multi‐hop route, and collect location information while flying above the traffic. The performance evaluation shows that VDNet achieves high efficiency and low end‐to‐end delay with controlled communication overhead. Copyright © 2016 John Wiley & Sons, Ltd. 相似文献