基于改进PID算法的机器人双目视觉跟踪系统

The Study of Robot Double CCD Visual Tracking System Based on Improved PID ControlAlgorithm

概述了自主研制的机器人双目视觉跟踪系统,重点描述了所设计的基于单片机的目标速度反馈PID控制算法,并通过实验检验了该视觉跟踪系统的控制性能。实验证明该系统解决了普通图像直接反馈控制方法由于非线性原因而产生控制效果差的问题,基于目标速度反馈的PID控制算法优于普通图像直接反馈的控制算法。

The selfdesigned double CCD tracking system used in robot is introduced in this paper.The target velocity feedback PID control algorithm based on microcontroller is mainly described,and the capability of the visual tracking system is tested by experiments.It proves that this system improved the problem of poor effect issued from nonlinear control of the normal image direct feedback control algorithm.It can also conclude that the target velocity feedback PID control algorithm is better than the normal one.