matlab代码sqrt-graduation_design:毕业设计

上传者: 38577648 | 上传时间: 2022-06-20 19:06:00 | 文件大小: 2.32MB | 文件类型: ZIP
matlab代码sqrt 基于双目定位的自动驾驶小车 基本构思: 1.使用树莓派作为小车的操作中心,树莓派通过摄像头进行道路的检测,进而使用PWM模式对L298N电机驱动模块进行对小车轮子的前进、后退、左右转弯。 2.主机使用MATLAB对双目摄像头进行标定,使用SGBM/BM算法进行对小车的空间的三维坐标的建立。 3.在主机pygame界面上构建出真实地图的平面图,通过双目摄像头获得到小车真实的三维坐标,主机在pygame上的平面图出小车的位置,并把真实的三维坐标和地图信息通过tcp发给树莓派小车。 树莓派小车通过道路检测和地图信息并使用Dijkstra进行最短路径的路线规划并进行自动驾驶,并实时通过接收真实的三维坐标进行自我矫正和分析。 难点:不管是树莓派还是主机下的图像处理能力都很慢,导致定位不够即使,小车电池电压下降,左右轮的PWM调速不能为固定值导致转弯困难 把raspberryPi文件夹移动树莓派,分别运行mian.py . ├── car2.png 小车图 ├── config.py 配置文件 ├── main.py ├── paint1.jpg 地图 ├── pc 主机

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