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一种高动态导航卫星信号的精确跟踪方法 预览
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作者 易炯 陈倩 《导航定位学报》 CSCD 2019年第1期65-71,共7页
针对导航接收机的动态性能、跟踪灵敏度和观测量精度指标之间易相互矛盾,在接收机设计时需根据应用场合进行性能指标取舍的问题,提出一种载波环Nms累积1ms更新、通过硬件逻辑实现载波环辅助码环的跟踪方法,形成一套完整的高动态接收机... 针对导航接收机的动态性能、跟踪灵敏度和观测量精度指标之间易相互矛盾,在接收机设计时需根据应用场合进行性能指标取舍的问题,提出一种载波环Nms累积1ms更新、通过硬件逻辑实现载波环辅助码环的跟踪方法,形成一套完整的高动态接收机跟踪环路,并在较弱信号的高动态模拟环境下对接收机的定位精度进行评估。实验结果表明,基于该方法进行环路4ms累积1ms更新时,在信号强度-133dBm、加速度490m/s^2、加加速度294m/s^3的动态环境下能正常定位,并实现水平10、高程15m的定位精度。 展开更多
关键词 高动态 跟踪 载波环辅助码环 码数控振荡器 载波数控振荡器
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Advanced technology of high-resolution radar: target detection, tracking, imaging, and recognition
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作者 Teng LONG Zhennan LIANG Quanhua LIU 《中国科学:信息科学(英文版)》 SCIE EI CSCD 2019年第4期1-26,共26页
In recent years, the performances of radar resolution, coverage, and detection accuracy have been significantly improved through the use of ultra-wideband, synthetic aperture and digital signal processing technologies... In recent years, the performances of radar resolution, coverage, and detection accuracy have been significantly improved through the use of ultra-wideband, synthetic aperture and digital signal processing technologies. High-resolution radars (HRRs) utilize wideband signals and synthetic apertures to enhance the range and angular resolutions of tracking, respectively. They also generate one-, two-, and even threedimensional high-resolution images containing the feature information of targets, from which the targets can be precisely classified and identified. Advanced signal processing algorithms in HRRs obtain important information such as range-Doppler imaging, phase-derived ranging, and micro-motion features. However, the advantages and applications of HRRs are restricted by factors such as the reduced signal-to-noise ratio (SNR) of multi-scatter point targets, decreased tracking accuracy of multi-scatter point targets, high demands of motion compensation, and low sensitivity of the target attitude. Focusing on these problems, this paper systematically introduces the novel technologies of HRRs and discusses the issues and solutions relevant to detection, tracking, imaging, and recognition. Finally, it reviews the latest progress and representative results of HRR-based research, and suggests the future development of HRRs. 展开更多
关键词 HIGH-RESOLUTION RADAR integrated detection and TRACKING multiple target TRACKING phase-derived velocity inverse synthetic APERTURE radar(ISAR) hierarchical classification CONVOLUTION neural network
Experimental Study on PAT System for Long-Distance Laser Communications Between Fixed-Wing Aircrafts
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作者 Yao LEI Xiaoming LI Lizhong ZHANG 《光子传感器:英文版》 EI CAS CSCD 2019年第2期170-178,共9页
Free-space laser communication is characterized by high communication speed, strong anti-jamming ability, high confidentiality, and flexible configuration. In this paper, a pointing, acquisition, and tracking (PAT) sy... Free-space laser communication is characterized by high communication speed, strong anti-jamming ability, high confidentiality, and flexible configuration. In this paper, a pointing, acquisition, and tracking (PAT) system based on a two-stage (i.e., coarse and fine) composite tracking mechanism is proposed to solve the optical axis alignment problem, which is common in free-space laser communications. The acquisition probability of the PAT system is ensured by designing two tracking modules, a coarse tracking module which combines passive damping with active suppression and a fine tracking module based on an electromagnetic galvanometer. Both modules are combined by using a dynamic scanning mechanism based on the gyroscope signal. Finally, a free-space laser communication test with a long range and a high speed is conducted by two fixed-wing Y12 aircrafts equipped with the proposed PAT system. Experimental results show that the coarse tracking precision of the airborne PAT system is 10 μrad (1σ), and the fine tracking precision is 10μrad (1σ) during flights which are much improved as compared with the indoor tests. This indicates that the system can achieve a high precision for PAT during high-speed and long-range laser communications in the free-space. This also verifies the tracking capability and the environmental adaptability of the proposed laser communication PAT system. 展开更多
关键词 PAT SYSTEM laser COMMUNICATIONS airborne platform coarse TRACKING ERROR fine TRACKING ERROR
LQR-GA Controller for Articulated Dump Truck Path Tracking System
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作者 孟宇 甘鑫 +1 位作者 汪钰 顾青 《上海交通大学学报:英文版》 EI 2019年第1期78-85,共8页
This paper designs a novel controller to improve the path-tracking performance of articulated dump truck(ADT). By combining linear quadratic regulator(LQR) with genetic algorithm(GA), the designed controller is used t... This paper designs a novel controller to improve the path-tracking performance of articulated dump truck(ADT). By combining linear quadratic regulator(LQR) with genetic algorithm(GA), the designed controller is used to control linear and angular velocities on the midpoint of the front frame. The novel controller based on the error dynamics model is eventually realized to track the path high-precisely with constant speed. The results of simulation and experiment show that the LQR-GA controller has a better tracking performance than the existing methods under a low speed of 3 m/s. In this paper, kinematics model and simulation control models based on co-simulation of ADAMS and Matlab/Simulink are established to verify the proposed strategy. In addition, a real vehicle experiment is designed to further more correctness of the conclusion. With the proposed controller and considering the steering model in the simulation, the control performance is improved and matches the actual situation better. The research results contribute to the development of automation of ADT. 展开更多
关键词 ARTICULATED DUMP truck(ADT) path tracking steering analysis linear quadratic regulator(LQR) genetic algorithm(GA) CONTROLLER
智能小车动态无线充电系统 预览
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作者 王立刚 《内燃机与配件》 2019年第18期220-221,共2页
本设计以MSP430超低功耗单片机系列MSP430F5529为主控制器的无线动态充电小车系统。小车系统由红外循迹模块、电机控制模块、无线充电模块、超级电容装置组成。完成小车无线充电、自动停止、检测黑白线实现沿轨道行驶等功能。小车循迹... 本设计以MSP430超低功耗单片机系列MSP430F5529为主控制器的无线动态充电小车系统。小车系统由红外循迹模块、电机控制模块、无线充电模块、超级电容装置组成。完成小车无线充电、自动停止、检测黑白线实现沿轨道行驶等功能。小车循迹由两个红外循迹模块检测黑色圆形行驶引导线信号,同时控制电机转速,让左右前轮差速驱使小车实现沿轨道行驶。小车通过无线充电线圈给超级电容充电,达到时间后,小车启动。 展开更多
关键词 MSP430F5529 循迹 无线充电
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Hierarchy-Based Adaptive Generalized Predictive Control for Aerial Grasping of a Quadrotor Manipulator
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作者 宋雪倩 胡士强 《上海交通大学学报:英文版》 EI 2019年第4期451-458,共8页
In this paper, an adaptive generalized predictive control(GPC) based on hierarchical control strategy is designed for a quadrotor with a robotic arm. For this nonlinear and coupled system, a two-layer control structur... In this paper, an adaptive generalized predictive control(GPC) based on hierarchical control strategy is designed for a quadrotor with a robotic arm. For this nonlinear and coupled system, a two-layer control structure is adopted to achieve more precise trajectory tracking and keep the tracking performance after aerial grasping.The inner-layer controller is a proportional-derivative(PD) controller. The outer-layer subsystem is linearized by input-output linearization first and an adaptive generalized predictive controller is applied. The effectiveness of this approach is verified through the simulation using MATLAB/Simulink. A PD controller with feedforward control input is applied on such a system for a comparative study. Simulation results show that a better tracking performance can be achieved by the proposed strategy. 展开更多
关键词 unmanned AERIAL vehicle ROBOTIC arm predictive control trajectory tracking
Optimal Fixed-Point Tracking Control for Discrete-Time Nonlinear Systems viaADP 预览
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作者 Ruizhuo Song Liao Zhu 《自动化学报:英文版》 CSCD 2019年第3期657-666,共10页
Based on adaptive dynamic programming (ADP), the fixed-point tracking control problem is solved by a value iteration (VI) algorithm. First, a class of discrete-time (DT) nonlinear system with disturbance is considered... Based on adaptive dynamic programming (ADP), the fixed-point tracking control problem is solved by a value iteration (VI) algorithm. First, a class of discrete-time (DT) nonlinear system with disturbance is considered. Second, the convergence of a VI algorithm is given. It is proven that the iterative cost function precisely converges to the optimal value, and the control input and disturbance input also converges to the optimal values. Third, a novel analysis pertaining to the range of the discount factor is presented, where the cost function serves as a Lyapunov function. Finally, neural networks (NNs) are employed to approximate the cost function, the control law, and the disturbance law. Simulation examples are given to illustrate the effective performance of the proposed method. 展开更多
关键词 Adaptive dynamic PROGRAMMING (ADP) fixedpoint TRACKING OPTIMAL control
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Modeling and Configuration Design of Electromagnetic Actuation Coil for a Magnetically Controlled Microrobot
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作者 Xiaolong Jing Weizhong Guo 《中国机械工程学报:英文版》 SCIE EI CAS CSCD 2019年第4期13-25,共13页
Non-contact actuated microbeads have attracted a lot of attention in recent years because of its enormous potential in medical, biological, and industrial applications. Researchers have proposed a multitude of electro... Non-contact actuated microbeads have attracted a lot of attention in recent years because of its enormous potential in medical, biological, and industrial applications. Researchers have proposed a multitude of electromagnetic actuation(EMA) systems consisting of a variety of coil pairs. However, a unified method to design and optimize a coil pair according to technical specifications still does not exist. Initially, this paper presented the modeling of an untethered ferromagnetic particle actuated by externally applied magnetic field. Based on the models, a simple method of designing and optimizing the EMA coil pair according to technical specifications, was proposed. A loop-shaped coil pair generating uniform magnetic and gradient fields was chosen to demonstrate this method clearly and practically. The results of the optimization showed that the best distance to radius ratio of a loop-shaped coil pair is 1.02 for a uniform magnetic field and 1.75 for a uniform gradient field. The applicability of the method to other shapes of coil configuration was also illustrated. The best width to distance ratio for a square-shaped coil pair is 0.558 and 0.958 for uniform magnetic and gradient fields, respectively. The best height to width ratio and distance to width ratio for a rectangle-shaped coil pair is h/w =[0.9,1.1], d/w =[0.5,0.6] for uniform magnetic field and h/w =[1.0,1.2], d/w =[0.9,1.1] for uniform gradient field. Furthermore, simulations of a microparticle tracking the targeted trajectory were conducted to analyze the performance of the newly designed coils. The simulations suggested the ability of manipulating microparticles via the coils designed by our proposed method. The research mainly proposed a unified design and optimization method for a coil pair, which can support researchers while designing a specific coil pair according to the technical requirements. This study is aimed at researchers who are interested in EMA system and microrobots. 展开更多
关键词 Micro-robot/particle COIL configuration design and optimization Electromagnetic ACTUATION TRAJECTORY TRACKING
Augmented input estimation in multiple maneuvering target tracking 预览
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作者 HADAEGH Mahmoudreza KHALOOZADEH Hamid BEHESHTI Mohammadtaghi 《系统工程与电子技术:英文版》 SCIE EI CSCD 2019年第5期841-851,共11页
This paper presents augmented input estimation(AIE)for multiple maneuvering target tracking.Multi-target tracking(MTT)is based on two main parts,data association and estimation.In data association(DA),the best observa... This paper presents augmented input estimation(AIE)for multiple maneuvering target tracking.Multi-target tracking(MTT)is based on two main parts,data association and estimation.In data association(DA),the best observations are assigned to the considered tracks.In real conditions,the number of observations is more than targets and also locations of observations are often so scattered that the association between targets and observations cannot be done simply.In this case,for general MTT problems with unknown numbers of targets,we present a Markov chain Monte-Carlo DA(MCMCDA)algorithm that approximates the optimal Bayesian filter with low complexity in computations.After DA,estimation and tracking should be done.Since in general cases,many targets can have maneuvering motions,then AIE is proposed to cover both the non-maneuvering and maneuvering parts of motion and the maneuver detection procedure is eliminated.This model with an input estimation(IE)approach is a special augmentation in the state space model which considers both the state vector and the unknown input vector as a new augmented state vector.Some comparisons based on the Monte-Carlo simulations are also made to evaluate the performances of the proposed method and other older methods in MTT. 展开更多
关键词 multi-target tracking (MTT) Markov chain Monte-Carlodata association (MCMCDA) data association (DA) augmentedinput estimation (AIE)
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A template consensus method for visual tracking
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作者 周同雪 曾冬冬 +1 位作者 朱明 Arjan Kuijper 《光电子快报:英文版》 EI 2019年第1期70-74,共5页
Visual tracking is a challenging problem in computer vision. Recently, correlation filter-based trackers have shown to provide excellent tracking performance. Inspired by a sample consensus approach proposed for foreg... Visual tracking is a challenging problem in computer vision. Recently, correlation filter-based trackers have shown to provide excellent tracking performance. Inspired by a sample consensus approach proposed for foreground detection, which classifies a given pixel as foreground or background based on its similarity to recently observed samples, we present a template consensus tracker based on the kernelized correlation filter (KCF). Instead of keeping only one target appearance model in the KCF, we make a feature pool to keep several target appearance models in our method and predict the new target position by searching for the location of the maximal value of the response maps. Both quantitative and qualitative evaluations are performed on the CVPR2013 tracking benchmark dataset. The results show that our proposed method improves the original KCF tracker by 8.17% in the success plot and 8.11% in the precision plot. 展开更多
关键词 METHOD TRACKING challenging
Minimum barrier distance based tracking via spatio-temporal context learning
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作者 杨志远 吴斌 《光电子快报:英文版》 EI 2019年第1期75-80,共6页
We propose an efficient and robust tracking method based on minimum barrier distance (MBD) and spatio-temporal context (STC) learning. It is robust to noise and blur, and can be evaluated approximately through a Dijks... We propose an efficient and robust tracking method based on minimum barrier distance (MBD) and spatio-temporal context (STC) learning. It is robust to noise and blur, and can be evaluated approximately through a Dijkstra-like algorithm, leading to fast computation. We adopt the MBD transform to measure the weights of context pixels, and formulate the spatio-temporal relationship between the object and its surrounding region based on a Bayesian framework to estimate the most likely location of the target. A bounded scale update model is proposed to estimate the size of the object. The whole proposed method runs at nearly 160 frames per second (FPS) on an i5 machine. Extensive experimental results show it has comparable or better comprehensive performance than the original STC and some other leading methods. 展开更多
关键词 Minimum BARRIER TRACKING CONTEXT LEARNING
部分具有引导信息的多领导者蜂拥控制算法 预览
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作者 丛凯 张金春 卢翰 《舰船电子工程》 2019年第4期22-28,116共8页
为了解决多领导者蜂拥控制系统中不具有目标引导信息的智能体目标跟踪丢失的问题,优化跟踪结果,提出了基于连通分支的多领导者蜂拥控制算法。通过连通分支使智能体能够获得分支内其他智能体位置和速度,得到位置和速度质心作为内聚项,加... 为了解决多领导者蜂拥控制系统中不具有目标引导信息的智能体目标跟踪丢失的问题,优化跟踪结果,提出了基于连通分支的多领导者蜂拥控制算法。通过连通分支使智能体能够获得分支内其他智能体位置和速度,得到位置和速度质心作为内聚项,加强其跟踪能力。仿真验证表明:与传统的蜂拥控制算法相比,该算法能够加强智能体的跟踪能力,能够更快地跟踪上目标,适用于多个领导者的多智能体蜂拥控制系统中。 展开更多
关键词 多领导者 蜂拥控制 连通分支 跟踪
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An improved long-term correlation tracking method with occlusion handling
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作者 赵俊豪 肖刚 +1 位作者 张星辰 杜尔·普拉萨德·巴维瑞瑟特 《中国光学快报:英文版》 SCIE EI CAS CSCD 2019年第3期36-41,共6页
By improving the long-term correlation tracking(LCT) algorithm, an effective object tracking method, improved LCT(ILCT), is proposed to address the issue of occlusion. If the object is judged being occluded by the des... By improving the long-term correlation tracking(LCT) algorithm, an effective object tracking method, improved LCT(ILCT), is proposed to address the issue of occlusion. If the object is judged being occluded by the designed criterion, which is based on the characteristic of response value curve, an added re-detector will perform re-detection, and the tracker is ordered to stop. Besides, a filtering and adoption strategy of re-detection results is given to choose the most reliable one for the re-initialization of the tracker. Extensive experiments are carried out under the conditions of occlusion, and the results demonstrate that ILCT outperforms some state-of-the-art methods in terms of accuracy and robustness. 展开更多
关键词 IMPROVED LONG-TERM CORRELATION TRACKING method OCCLUSION HANDLING
Stability of Rarefaction Wave to the 1-D Piston Problem for the Pressure-Gradient Equations
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作者 Min DING 《数学年刊:B辑英文版》 SCIE CSCD 2019年第2期161-186,共26页
The 1-D piston problem for the pressure gradient equations arising from the flux-splitting of the compressible Euler equations is considered.When the total variations of the initial data and the velocity of the piston... The 1-D piston problem for the pressure gradient equations arising from the flux-splitting of the compressible Euler equations is considered.When the total variations of the initial data and the velocity of the piston are both sufficiently small,the author establishes the global existence of entropy solutions including a strong rarefaction wave without restriction on the strength by employing a modified wave front tracking method. 展开更多
关键词 PISTON problem Pressure gradient equations RAREFACTION WAVE WAVE FRONT tracking method Interaction of WAVES
Adaptive Fuzzy Dynamic Surface Control of Flexible-Joint Robot Systems With Input Saturation 预览
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作者 Song Ling Huanqing Wang Peter X.Liu 《自动化学报:英文版》 CSCD 2019年第1期97-107,共11页
In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal w... In this paper, we propose an adaptive fuzzy dynamic surface control(DSC) scheme for single-link flexible-joint robotic systems with input saturation. A smooth function is utilized with the mean-value theorem to deal with the difficulties associated with input saturation. An adaptive DSC design with an auxiliary first-order filter is used to solve the 'explosion of complexity'problem. It is proved that all the signals in the closed-loop system are semi-globally uniformly ultimately bounded, and the tracking error eventually converges to a small neighborhood around zero. The main advantage of the proposed method is that only one adaptation parameter needs to be updated,which reduces the computational burden significantly. Simulation results demonstrate the feasibility of the proposed scheme and the comparison results show that the improved DSC method can reduce the computational burden by almost two thirds in comparison with the standard DSC method. 展开更多
关键词 Adaptive fuzzy CONTROL dynamic surface CONTROL (DSC) flexible-joint (FJ) ROBOTS single-link TRACKING CONTROL
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D2-1型巡线小车的设计 预览
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作者 马雪丽 樊钺骄 +1 位作者 王宏阳 孙进龙 《汽车实用技术》 2019年第16期105-107,共3页
巡线小车结构简单,特别有趣,原理容易理解,深受人们的喜欢。它涉及到许多知识,包括传感器、电子技术和机械部分。通过对小车进行制作,不仅锻炼了动手的能力,还使得学到的知识加以运用。小车可以沿着黑色轨道自动行驶,可以自动转弯,不需... 巡线小车结构简单,特别有趣,原理容易理解,深受人们的喜欢。它涉及到许多知识,包括传感器、电子技术和机械部分。通过对小车进行制作,不仅锻炼了动手的能力,还使得学到的知识加以运用。小车可以沿着黑色轨道自动行驶,可以自动转弯,不需要人为控制。文章介绍了其主要元件,还对其整体的电路进行了分析。还介绍了小车的组装、焊接以及调试。 展开更多
关键词 小车 智能 循迹 光敏电阻
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大型射电望远镜的火星探测器跟踪技术
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作者 刘庆会 赵融冰 +6 位作者 舒逢春 贺庆宝 郑鑫 马茂莉 付丽 吴亚军 虞林峰 《中国科学:信息科学》 CSCD 北大核心 2019年第6期775-782,共8页
我国将于2020年发射由环绕器和着陆巡视器组成的火星探测器,需要利用大型射电望远镜进行跟踪.本文对大型射电望远镜的火星探测器跟踪技术进行了分析,并实际利用上海65 m射电望远镜跟踪火星探测器进行了测试验证.分析和测试结果表明,大... 我国将于2020年发射由环绕器和着陆巡视器组成的火星探测器,需要利用大型射电望远镜进行跟踪.本文对大型射电望远镜的火星探测器跟踪技术进行了分析,并实际利用上海65 m射电望远镜跟踪火星探测器进行了测试验证.分析和测试结果表明,大型射电望远镜跟踪火星探测器时需要考虑和改正座架热变形、大气折射、光行时等引起的指向偏差.不考虑下行单程光行时的接收功率比考虑时降低约0.8 dB.在俯仰指向偏差为36′′和72′′时接收能力分别降低约0.8和3.5 dB.这些研究成果对我国的首次火星探测任务的顺利实施有重要的应用价值. 展开更多
关键词 射电望远镜 火星探测器 跟踪 光行时 指向偏差
基于高效升降压转换器的电容LED技术研究
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作者 梅盼 姜雪儿 吴施蓉 《功能材料与器件学报》 CAS 2019年第2期112-116,共5页
在信息化、智能化高速发展的时代,对于便携式电源的要求越来越高。法拉电容优秀的充放电性能使其成为研究电源技术的热点。本文通过对法拉电容进行阻抗函数建模分析,找到影响法拉电容关键参数。选取高效TPS63020升降压芯片进行仿真参数... 在信息化、智能化高速发展的时代,对于便携式电源的要求越来越高。法拉电容优秀的充放电性能使其成为研究电源技术的热点。本文通过对法拉电容进行阻抗函数建模分析,找到影响法拉电容关键参数。选取高效TPS63020升降压芯片进行仿真参数分析。并设计出实现法拉电容高效、低功耗输出电流跟踪管理关键电路,利用LED作为能耗对象,实现了法拉电容的高精度输出跟踪输出,输出效率达到88%以上。该项研究对于法拉电容取代锂电池和智能化发展具有一定的研究意义和使用价值。 展开更多
关键词 法拉电容 TPS63020 跟踪
Constrained auxiliary particle filtering for bearings-onlymaneuvering target tracking 预览
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作者 ZHANG Hongwei XIE Weixin 《系统工程与电子技术:英文版》 SCIE EI CSCD 2019年第4期684-695,共12页
To track the nonlinear,non-Gaussian bearings-only maneuvering target accurately online,the constrained auxiliary particle filtering(CAPF)algorithm is presented.To restrict the samples into the feasible area,the soft m... To track the nonlinear,non-Gaussian bearings-only maneuvering target accurately online,the constrained auxiliary particle filtering(CAPF)algorithm is presented.To restrict the samples into the feasible area,the soft measurement constraints are implemented into the update routine via the1 regularization.Meanwhile,to enhance the sampling diversity and efficiency,the target kinetic features and the latest observations are involved into the evolution.To take advantage of the past and the current measurement information simultaneously,the sub-optimal importance distribution is constructed as a Gaussian mixture consisting of the original and modified priors with the fuzzy weighted factors.As a result,the corresponding weights are more evenly distributed,and the posterior distribution of interest is approximated well with a heavier tailor.Simulation results demonstrate the validity and superiority of the CAPF algorithm in terms of efficiency and robustness. 展开更多
关键词 bearings-only maneuvering target tracking soft measurement constraints constrained auxiliary particle filtering(CAPF)
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基于CCD的循迹机器人小车模糊控制方法研究与实现 预览 被引量:1
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作者 刘汉忠 俞鹏 谢秦韬 《现代电子技术》 北大核心 2019年第9期95-97,102共4页
设计一种基于STM32为主控芯片的循迹机器人小车,用CCD摄像头作为路径识别装置,采用边缘检测算法提取路径中线,根据小车的速度与转弯半径,采用模糊控制调节小车左右轮的速度差,达到路径识别与跟踪的目的。设计中通过建立里程计模型把小... 设计一种基于STM32为主控芯片的循迹机器人小车,用CCD摄像头作为路径识别装置,采用边缘检测算法提取路径中线,根据小车的速度与转弯半径,采用模糊控制调节小车左右轮的速度差,达到路径识别与跟踪的目的。设计中通过建立里程计模型把小车的实时理想位置通过蓝牙传送至PC端,PC端通过数据处理将理论轨迹和实际运行轨迹进行对比,实验结果表明,小车可以依靠CCD摄像头很好地识别任意路径轨迹,在不同的运行速度下,模糊控制都有较理想的循迹控制效果。 展开更多
关键词 CCD摄像头 循迹 STM32 模糊控制 控制器 路径识别
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