A Track Following Visual Navigation Model Car Based on FPGA

Abstract

A novel adaptive track finding algorithm is designed, which combines the function of track finding and image binarization. The combination of these two functions allows the system to determine the binarization threshold adaptively, and perform accurate visual navigation in diverse lighting and track conditions. A circular arc path planning strategy with a single measurable control parameter is used to guide the model car to the track. The circular arc path planning strategy is easy to implement and delivers fast and accurate responses to the track.