选用激光测距传感器加pixy视觉传感器作为道路信息的采集器, 设计了一辆循迹智能小车系统, 能够从指定位置出发, 快速搜寻场地内随机点亮的信标灯。该系统以pixy视觉传感器采集光源, 得到智能小车的位置信号, 采用激光测距传感器, 采集障碍物的位置信号。通过PID控制算法、路径识别算法、速度控制算法, 判断道路是直线还是曲线, 避开障碍物, 实现自动行驶。本系统经多次实验验证能够实现控制小车选择合适的路径, 具有稳定性高、系统响应灵敏等特点。

Using the sensor of laser obstacle avoidance and pixy visual sensor as the collector of road information, an intelligent vehicle system of photoelectric “searching” was designed, which could start from the designated position and quickly search for beacon lights that were randomly lighted in the site. The system used the pixy visual sensor to collect the light source, and got the position signal of the smart vehicle. The laser obstacle avoidance sensor was adopted to collect the position signal of the obstacle. Through PID control algorithm, path identification algorithm and speed control algorithm, the road was judged as straight line or curve. The vehicle could avoid obstacles and realize automatic driving. The system has been proved to be small size, low cost, high accuracy, high reliability and fast reaction.