摘要
随着科技的不断发展,人形机器人逐渐成为当下研究的热点问题。为了提高人形机器人在单目环境下的轨迹跟踪精确度,本文提出了一种基于openmv的人形机器人轨迹跟踪方法。以STM32H750VBT6芯片为主控,依托MicroPython操作系统对单目视觉条件下的人形机器人系统进行了设计,从而使机器人能够实现图像处理、同步避障与轨迹跟踪等功能。通过搭建道路环境进行的测试结果表明,该系统能够切实地应用到现有的机器人轨迹跟踪方案中,对推动人形机器人轨迹跟踪领域发展具有一定的参考价值。
With the continuous development of science and technology,humanoid robot has gradually become a hot issue of current research.In order to improve the trajectory tracking accuracy of humanoid robot in monocular environment,this paper proposes a trajectory tracking method for humanoid robot based on openmv.The STM32H750VBT6 chip is used as the main control,and the humanoid robot system under the condition of monocular vision is designed based on the MicroPython operating system,so that the robot can realize the functions of image processing,synchronous obstacle avoidance and trajectory tracking.The test results by building a road environment show that the system can be practically applied to the existing robot trajectory tracking scheme,and has certain reference value for promoting the development of humanoid robot trajectory tracking field.
作者
于之洋
魏友业
张剑诠
陈鸿林
戴峻峰
Yu Zhiyang;Wei Youye;Zhang Jianquan;Chen Honglin;Dai Junfeng(Huaiyin Institute of Technology,Faculty of Elctronic Information Engineering,Jiangsu,Huaian,223003,China)
出处
《仪器仪表用户》
2023年第6期1-4,47,共5页
Instrumentation
基金
2022年国家级大学生创新创业训练计划资助项目(202211049031Z)。
关键词
单目视觉
人形机器人
轨迹跟踪
图像处理
monocular vision
humanoid robot
trajectory tracking
image processing
