移动机器人的智能循迹控制系统研究  

Research of control system for Unmanned Target Vehicle

作　　者：吴健 任海东 雷志强 

机构地区：[1]南京模拟技术研究所

出　　处：《电子世界》2014年第23期22-23,共2页Electronics World

摘　　要：移动机器人平台主要用于搭载各类光电设备、靶标设备、机械手臂等任务载荷，并且按照设定的路径轨迹完成军警侦察、训练任务，移动机器人平台的运动控制可根据应用环境选择栗用GPS、图像、超声、雷达等多传感器组合，完成平台的室内外的运动的导航控制。该采用CCD摄像头作为循迹传感器，通过两路CCD摄像头计算的车辆方向及位置偏差，通过循迹控制算法计算出控制量，控制车辆平台的两个驱动轮进行车辆的位置。测试结果表明无轨车辆平台能移很好的跟踪设定路径行驶，具有较高的控制精度及稳定性。Unmanned target vehicle platform is used to carry, kinds of devices, such as optical devices, target device, mechanical paw, and can run in route for different missions.Multiple sensors, such as GPS, CCD sensors, supersonic sensors, and radar ete, are installed for the Unmanned vehicle platform navigation and controlling in indoor or outdoor applications. CCD cameras is used as the route cruiser sensors in the design, the direction and the position error is calculated through two CCD camera, the control value could be calculated by the route cruiser control law and used to adjust the position etror.The test result show that the unmanned target vehicle platform has good control accuracy and stability in route cruising and velocity controlling.

关 键 词：移动机器人平台 曲线循迹控制 图像识别 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]