基于线性CCD的类人机器人循迹系统的设计Design of humanoid robot tracking system based on linear CCD
牛国臣,许开鲁
摘要(Abstract)：
针对使用光电管阵列作为图像采集模块的类人循迹机器人前瞻性小、受光线影响大的缺点,设计一种基于TSL1401线性CCD的类人循迹机器人。首先完成系统的总体设计和软硬件设计,然后基于OTSU算法获取自适应阈值,采用灰度门限法提取赛道引导线,基于专家控制策略输出相应的控制信号调整机器人的动作。实现自主循迹行走,进行了实验验证并用来参加华北五省(市、自治区)大学生机器人大赛。结果表明设计的类人循迹机器人系统具有循迹可靠性高、环境适应性强的优点。
关键词(KeyWords)： 线性CCD;类人机器人;大津算法;动态阈值;循迹系统;专家控制
基金项目(Foundation): 天津市应用基础与前沿技术研究计划:飞机油箱检查连续型载体控制及缺陷检测方法研究(#14JCQNJC04400)~~
作者(Author): 牛国臣,许开鲁
DOI: 10.16652/j.issn.1004-373x.2018.02.033
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