基于CCD的循迹机器人小车模糊控制方法研究与实现
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摘要
设计一种基于STM32为主控芯片的循迹机器人小车,用CCD摄像头作为路径识别装置,采用边缘检测算法提取路径中线,根据小车的速度与转弯半径,采用模糊控制调节小车左右轮的速度差,达到路径识别与跟踪的目的。设计中通过建立里程计模型把小车的实时理想位置通过蓝牙传送至PC端,PC端通过数据处理将理论轨迹和实际运行轨迹进行对比,实验结果表明,小车可以依靠CCD摄像头很好地识别任意路径轨迹,在不同的运行速度下,模糊控制都有较理想的循迹控制效果。
A tracking robot car taking STM32 as main control chip is designed,in which CCD camera is deemed as the path recognition device,and the edge detection algorithm is used to extract the path central line. According to the speed and turning radius of the car,the fuzzy control is used to adjust the speed difference of the left and right wheels to achieve the purpose of path recognition and tracking. The real-time ideal position of the robot car is transmitted to the PC end by establishing the odometer model. The theoretical trajectory and actual running trajectory are compared by means of data processing on the PC end. The experimental results show that the robot car can accurately recognize any path by means of CCD camera,and the fuzzy control can obtain the ideal tracking control effect at different running speeds.
A tracking robot car taking STM32 as main control chip is designed,in which CCD camera is deemed as the path recognition device,and the edge detection algorithm is used to extract the path central line. According to the speed and turning radius of the car,the fuzzy control is used to adjust the speed difference of the left and right wheels to achieve the purpose of path recognition and tracking. The real-time ideal position of the robot car is transmitted to the PC end by establishing the odometer model. The theoretical trajectory and actual running trajectory are compared by means of data processing on the PC end. The experimental results show that the robot car can accurately recognize any path by means of CCD camera,and the fuzzy control can obtain the ideal tracking control effect at different running speeds.
引文
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[5]王琰,郭燕.基于C51单片机的智能循迹小车设计与实现[J].机电一体化,2013,19(8):60-63.WANG Yan,GUO Yan.The design and implementation of the intelligent tracking car based on single-chip microcomputer C51[J].Mechatronics,2013,19(8):60-63.
[6]张江林.基于LM393控制的太阳能循迹小车设计与实现[J].现代电子技术,2015,38(10):121-123.ZHANG Jianglin.Design and implementation of solar tracing car controlled by voltage comparer LM393[J].Modern electronics technique,2015,38(10):121-123.
[7]赵万欣,陈思屹.基于TSL1401线性CCD的智能巡线小车[J].工业控制计算机,2014,27(2):121-122.ZHAO Wanxin,CHEN Siyi.Small intelligent patrol line vehicle based on TSL1401 linear CCD[J].Industrial control computer,2014,27(2):121-122.
[8]冷雪锋.基于PID的STM32智能小车机器人的设计[J].自动化技术与应用,2016,35(11):122-126.LENG Xuefeng.Design of STM32 intelligent car robot based on PID[J].Techniques of automation and applications,2016,35(11):122-126.
[9]张国强,白明雄,康琦,等.基于MSP430单片机的智能压路小车设计[J].现代电子技术,2014,37(22):98-100.ZHANG Guoqiang,BAI Mingxiong,KANG Qi,et al.Design of intelligent roller based on MSP430 microcontroller[J].Modern electronics technique,2014,37(22):98-100.
[10]徐昌华.高可靠小车红外光循迹设计原则[J].现代电子技术,2013,36(23):158-160.XU Changhua.Design principles of car infrared tracking with high reliability[J].Modern electronics technique,2013,36(23):158-160.