基于CPLD的彩色视觉移动机器人路径跟踪系统  

Path tracking system of mobile robot with color vision based on CPLD

作　　者：潘峥嵘[1] 杜宝强[1] 王树东[1] 徐猛[1] 

机构地区：[1]兰州理工大学电气与信息工程学院,甘肃兰州730050

出　　处：《计算机工程与设计》2007年第5期1102-1103,1107,共3页Computer Engineering and Design

基　　金：国家自然科学基金项目(50274003)

摘　　要：路径跟踪是机器人视觉导航控制基本技术之一,为使机器人沿地面彩色引导线自主运动,并能在适时离线执行任务后自动返航,提出了一种用可编程逻辑器件(CPLD)实现的视觉伺服PID控制方法。该方法利用图像特征反馈对其所跟踪的路经进行实时识别跟踪。仿真结果表明,该方法改善了控制算法的实时性,提高了移动机器人的路径跟踪精度与速度。Path tracking is an elementary technique in vision guided robot systems. A kind of PID visual servo control method based on complex programmable logical device （CPLD） is proposed to assist a mobile robot walking along a color indicated line on the ground, to ensure it automatically navigate home after leaving the line and finishing its tasks. In this method, the path tracked by mobile robot is identified real time by using image features feedback. The simulation results indicate that the real time control of this algorithm is improved as well as the path tracking precision and speed for mobile robot is enhanced to a great extent by using this approach.

关 键 词：可编程逻辑器件 图像特征 视觉伺服 路经跟踪 移动机器人 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]