江汉大学学报（自然科学版）

针对智能小车在复杂地形环境下对高尔夫球进行目标识别,设计了一种目标识别追踪和避障一体的测控系统。系统以STM32f103单片机为控制核心,以直流减速电机作为驱动的动力源来实现对小车速度和方向的准确控制,使用摄像头OV7620来检测目标物,在避障时使用由超声波传感器和红外传感器组成的避障模块进行避障,能够实现避开障碍物功能。通过对样机进行测试,结果表明,搭载该系统的小车能够在识别准确率为85%和避障通过率为80%的条件下,在成功追踪到目标物体的同时,对多种复杂的障碍物成功实现快速避障。

Aiming at the intelligent car′s target recognition and obstacle avoidance ability in complex terrain environment, a measurement and control system integrating target recognition, tracking and obstacle avoidance was proposed. The system used STM32 f103 single chip microcomputer as the control core and DC deceleration motor as the power source to control the speed and direction of the car accurately. The camera OV7620 was used to detect the object. The obstacle avoidance module was composed of ultrasonic sensor and infrared sensor for avoiding obstacles. The collision between the car and obstacles could be effectively avoided and obstacles could be avoided. Through testing the prototype, the experimental results showed that the car carrying the system could successfully track the target object with the recognition accuracy of 85% and obstacle avoidance passing rate of 80%. At the same time, the car could successfully avoid many complex obstacles, which proves that the system has good stability, strong antiinterference, and can better solve the problem of target recognition and obstacle avoidance of intelligent car in complex environment.