欠驱动自行车机器人视觉误差级联平滑与安全约束循迹控制

论文摘要

针对欠驱动自行车机器人单目摄像头视觉车道线识别循迹过程中横向偏差信号易受阴影变化、车道线短时缺失和检测噪声影响，同时可能通过转向执行引发姿态振荡，导致机器人车体失衡，本文提出一种视觉误差级联平滑与安全约束循迹控制方法。该方法不改变既有车道识别与底层平衡控制结构，而在二者之间构建视觉识别与执行接口层：首先，利用短时滑动平均抑制高频随机噪声，随后通过相邻差值约束削弱大幅突变，并结合输出饱和限制转向指令幅值；同时，采用高速UART实现平滑指令的实时下发。实车在室外400 m跑道开展直道及左右弯道闭环测试。实车实验结果表明，该方法可在STM32平台上实现实时处理，在直道、左转和右转场景下分别将横向RMSE降低40.2%、39.85%和32.35%。

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