基于Sobel算子的寻迹机器人PID优化算法研究

针对竞赛用寻迹机器人在直角转弯及弯道行驶时出现的偏离赛道和跑偏问题,提出了基于Sobel算子提取赛道边缘信息的PID优化算法。采用基于Sobel算子方法提取赛道边缘信息,再通过PID算法控制直流电机转速来调整寻迹机器人行驶方向;然后在MATLAB软件Similink模块中建立仿真模型,得到了控制系统的单位阶跃响应曲线。仿真结果表明提取的赛道边缘图像清晰、识别率高,得到的单位阶跃响应曲线调节时间短、超调量小且稳态误差低,最后通过寻迹机器人实地实验验证了仿真结果。结果证明基于Sobel算子的PID优化算法不仅可以有效解决寻迹机器人在直角转弯及弯道行驶时出现的偏离赛道和跑偏问题,还提高了其行驶速率。

A Study of PID Optimization Algorithm for Tracing Robot Based on Sobel Operator

In order to solve the problem of track deviation when tracing robot driving on the curve path,the PID optimization algorithm based on Sobel operator was put forward. Firstly,The Sobel operator method for extracting track edge information was presented,and the travel direction of tracing robot was adjusted by DC motor with PID control algorithm. Secondly,the simulation model was established by using MATLAB/Simulink module and the unit step response curve of the control system was obtained. Simulation results show that the track edge information is clear and the recognition rate is high,the unit step response curve has short adjusting time,small overshoot and low steady state error. Finally,the simulation results were verified by experiments. Experimental results show that the PID optimization algorithm based on Sobel operator can not only solve the problems of track deviation,but also can improve its travel speed.