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摄像头代码

于 2022-06-16 发布 文件大小:149.74 kB
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应用背景是在校赛中用的,是一个摄像头的算法,识别弯道,直角等在单行黑线边沿检测提取算法的基础上,我们可以根据10行的 数据中每行黑线位置与10行平均位置(参考 公式1)之相对位移, 然后求10行相对位移之和(公式2 )。最后根据该值的大小并且结关键技术偶尔在切线位置处出现小于10的情况,但是作为弯道的判断已经足 够了,而且随着曲率半径的减小curve值也会相应的增大。因此可以 根据curve的值来设置几个阀值,判断赛车前方的路况信息,决定赛 车是否减速。同时速度控制算法可以采用以curve为变量的P控制: __×_ _ SPEED MAX SPEED MIN Speed curve SPEED MIN CURVE VALVE − =+  (公式3 ) 但是转向舵机的控制如果也采用以curve为参数的P

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