基于视觉跟踪的两轮自平衡移动机器人控制系统

Two-Wheeled Self-Balancing Mobile Robot Control System Based on Visual Tracking

本文设计了两轮自平衡移动机器人各个功能模块单元,介绍了自平衡原理,对视觉跟踪给出了目标物体在视觉模块中坐标与中心位置差值计算方法并给出了视觉跟踪策略;给出了系统整体程序框架以及图像处理与发送程序框架,对视觉跟踪进行了相应测试实验,测试结果达到预期效果。

This paper designs each functional module unit of a two-wheeled self-balancing mobile robot,introduces the principle of self-balancing,and gives the calculation method of the difference between the coordinate and the center position of the target object in the vision module for visual tracking,and gives the visual tracking strategy;The overall program framework of the system and the image processing and sending program framework are given,and corresponding test experiments are carried out on visual tracking,and the test results achieve the expected results.