摘要
针对有人驾驶布雷车操作误差大、效率低以及危险度高的问题,提出基于机器视觉的无人布雷车纯路径轨迹跟踪控制系统。构建无人布雷车的控制系统构架;提出机器视觉导航设计,对布雷车的作业环境图像进行处理;建立纯路径追踪数学模型及算法,实现对无人布雷车布雷轨迹的控制跟踪轨迹。结果表明:该控制系统可快速准确跟踪无人布雷车的轨迹,提高无人布雷车的军事效果,具有较重要工程价值,为实现武器装备的智能化水平提供基础研究。
Aiming at the problems of big operation error,low efficiency and high risk of manned mine laying vehicle,a pure path tracking control system of unmanned mine laying vehicle based on machine vision is proposed.The control system architecture of the unmanned mine-laying vehicle is constructed;the design of machine vision navigation is proposed to process the operating environment images of the mine-laying vehicle;the mathematical model and algorithm of pure path tracking are established to realize the control and tracking of the mine-laying trajectory of the unmanned mine-laying vehicle.The results show that the control system can quickly and accurately track the trajectory of unmanned mine-laying vehicle,and improve the military effect of unmanned mine-laying vehicle,which has important engineering value and provides basic research for realizing the intelligent level of weapon equipment.
作者
岳光
潘玉田
任琳
郭保全
王雯
Yue Guang;Pan Yutian;Ren Lin;Guo Baoquan;Wang Wen(Department of Automation,Taiyuan Institute of Technology,Taiyuan 030008,China;Institute of Intelligent Weapons,North University of China,Taiyuan 030051,China)
出处
《兵工自动化》
北大核心
2024年第11期94-96,共3页
Ordnance Industry Automation
基金
国家自然科学基金项目(51766011)
太原工业学院青年(后备)学科带头人资助项目(21020909)
山西省高等学校科技创新项目(2023L342)。
关键词
无人布雷车
机器视觉
纯路径跟踪
控制系统
边缘检测
unmanned mine-laying vehicle
machine vision
pure path tracking
control system
edge detection
作者简介
第一作者:岳光(1983-),男,河北人,博士。
