基于Sobel算子的寻迹机器人PID优化算法研究
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摘要
针对竞赛用寻迹机器人在直角转弯及弯道行驶时出现的偏离赛道和跑偏问题,提出了基于Sobel算子提取赛道边缘信息的PID优化算法。采用基于Sobel算子方法提取赛道边缘信息,再通过PID算法控制直流电机转速来调整寻迹机器人行驶方向;然后在MATLAB软件Similink模块中建立仿真模型,得到了控制系统的单位阶跃响应曲线。仿真结果表明提取的赛道边缘图像清晰、识别率高,得到的单位阶跃响应曲线调节时间短、超调量小且稳态误差低,最后通过寻迹机器人实地实验验证了仿真结果。结果证明基于Sobel算子的PID优化算法不仅可以有效解决寻迹机器人在直角转弯及弯道行驶时出现的偏离赛道和跑偏问题,还提高了其行驶速率。
In order to solve the problem of track deviation when tracing robot driving on the curve path,the PID optimization algorithm based on Sobel operator was put forward. Firstly,The Sobel operator method for extracting track edge information was presented,and the travel direction of tracing robot was adjusted by DC motor with PID control algorithm. Secondly,the simulation model was established by using MATLAB/Simulink module and the unit step response curve of the control system was obtained. Simulation results show that the track edge information is clear and the recognition rate is high,the unit step response curve has short adjusting time,small overshoot and low steady state error. Finally,the simulation results were verified by experiments. Experimental results show that the PID optimization algorithm based on Sobel operator can not only solve the problems of track deviation,but also can improve its travel speed.
In order to solve the problem of track deviation when tracing robot driving on the curve path,the PID optimization algorithm based on Sobel operator was put forward. Firstly,The Sobel operator method for extracting track edge information was presented,and the travel direction of tracing robot was adjusted by DC motor with PID control algorithm. Secondly,the simulation model was established by using MATLAB/Simulink module and the unit step response curve of the control system was obtained. Simulation results show that the track edge information is clear and the recognition rate is high,the unit step response curve has short adjusting time,small overshoot and low steady state error. Finally,the simulation results were verified by experiments. Experimental results show that the PID optimization algorithm based on Sobel operator can not only solve the problems of track deviation,but also can improve its travel speed.
引文
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[4]陈晓鹏,李成荣,李功燕.基于动力学模型的轮式移动机器人电机控制[J].机器人,2008,30(4):326-332.(Chen Xiao-peng,Li Cheng-rong,Li Gong-yao.Dynamic model based motor control for wheeled mobile robots[J].Robot,2008,30(4):326-332.)
[5]张小琳,景越峰,刘军.高能闪光照相中Sobel算子的边缘检测方法[J].强激光与粒子束,2009,21(11):1729-1733.(Zhang Xiao-lin,Jing Yue-feng,Liu Jun.An improved edge detection method with Sobel operator in high-energy flash X-ray radiography[J].High Power Laser and Particle Beams,2009,21(11):1729-1733.)
[6]李灿灿,孙长辉,王静.基于改进的Sobel算子和色调信息的叶脉提取方法[J].农业工程学报,2011,27(7):196-199.(Li Can-can,Sun Chang-hui,Wang Jing.Extraction of leaf vein based on improved Sobel algorithm and hue information[J].Transactions of the Chinese Society of Agricultural Engineering,2011,27(7):196-199.)
[7]刘浩蓬,龙长江,万鹏.植保四轴飞行器的模糊PID控制[J].农业工程学报,2015,31(1):71-77.(Liu Hao-feng,Long Chang-jiang,Wan Peng.Fuzzy self-adjusting proportion integration differentiation for eppo quadrocopter[J].Transactions of the Chinese Society of Agricultural Engineering,2015,31(1):71-77.)
[8]王会方,朱世强,刘松国.具有H_∞跟踪性能的机器人自适应PID控制[J].控制与决策,2009,24(10):1585-1588.(Wang Hui-fang,Zhu Shi-qiang,Liu Song-guo.Adaptive PID control of robot manipulators with H_∞tracking performance[J].Control and Decision,2009,24(10):1585-1588.)
[9]王启源,阮晓钢.独轮自平衡机器人双闭环非线性PID控制[J].控制与决策,2012,27(4):593-597.(Wang Qi-yuan,Ruan Xiao-gang.Dual loop nonlinear PID control of single-wheeled robot[J].Control and Decision,2012,27(4):593-597.)
[10]蔡建羡,阮晓刚,甘家飞.两轮自平衡机器人系统建模与模糊自整定PID控制[J].北京工业大学学报,2009,35(12):25-29.(Chai Jian-xian,Ruan Xiao-gang,Gan Jia-fei.Modeling of two-wheeled self-balancing robot and fuzzy self-adjusting PID control[J].Journal of Beijing University of Technology,2009,35(12):25-29.)