摘要
在全面讨论了以Matlab为软件平台实时仿真方法的基础上,提出了双机RTWT(Real-Time Windows Target)模式的实时仿真系统构架,设计了双目视觉两轮机器人实时目标跟踪系统.相比于传统RTWT模式,该构架大幅度地提高了实时仿真系统的数据处理能力,拓宽了硬件的适用范围.在实时系统测试前,对所使用的位置角度同步、异步控制器及同步补偿算法对目标捕捉性能的影响进行了全仿真研究,仿真结果表明:采用同步控制策略捕捉时间较短,而采用异步控制策略运行轨迹较短,两者各具优势;当扰动不是很大时,同步补偿算法对同步控制的影响较大,能有效缩短捕捉时间和运行轨迹,而对异步控制的影响较小.
The approaches to the reabtime control based on Matlab were discussed; A novel real-time simulation system based on dual-PC RTWT mode was proposed; A real-time target-tracking system of binocular vision two-wheeled robot was designed. Compared to traditional mode, this system greatly improves data processing capabilities and expands the scope of the hardware. Prior to testing on real- time system, the influences of position-angle synchronous and Asynchronous controller on target-track- ing peHormance were analyzed comparatively, and the study on impacts of synchronous compensation on system performance was imnlorn^nt,~d h~, f,,ll o;~,,1~.：^-
出处
《北京交通大学学报》
CAS
CSCD
北大核心
2011年第4期148-153,共6页
JOURNAL OF BEIJING JIAOTONG UNIVERSITY
基金
国家自然科学基金资助项目(61074104)
关键词
机器人
双机
RTWT
目标跟踪
同步补偿
robot
dual-PC
RTWT
target-tracking
synchronous compensation
