Control System for Wheeled Humanoid Following Robot

摘要

Abstract Aiming at application and development prospects of following robot, a control system for humanoid 18-DOF robot supported by four wheels is designed. The system adopts the double-controller structure composed of master controller Raspberry Pi and slave controller STM32 for servo control of robot based on multi-sensor information fusion. In this control system, USB camera and two-axis pan-tilt are used for capturing images with wide viewing angles. Multi-scale template matching and Median-Flow algorithm are used for target recognition. Kalman Filter is used to fuse acceleration and angular velocity given by attitude sensor to obtain the reliable upright angle. PID algorithms are applied to the control system to realize robot’s upright angle control, speed control and turning angle control. Robot’s action adjustment is achieved by controlling its joint steering gears. The experimental results show that this low-cost wheeled humanoid robot has good self-balancing stability, anti-interference and following stability.