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標題: 全方位行動機器人之系統設計、軌跡規劃與控制
System Design, Trajectory Planning and Control of an Omnidirectional Mobile Robot
作者: 王棟生
Wang, Tung-Sheng
關鍵字: omnidirection;全方位;genetic algorithm;DNA algorithm;基因演算法;DNA演算法
出版社: 電機工程學系所
引用: References [1] K. T. Song, T. Z. Wu, “Visual servo control of a mobile manipulator using one-dimensional windows,” Proceeding of Annual Conference of the IEEE Industrial Electronics Society, vol.2, pp.686-691, December 1999. [2] G. Hitaka, T. Murakami, K. Ohnishi, “An approach to vibration control by stereo vision system in mobile manipulator,” Proceedings of IEEE/ASME international Conference on Advanced Intelligent Mechatronics, vol.1, pp.601-605, July 2001. [3] G. A. Huang, A Real-time Surveillance System Based On Motion Detection, M.S. Thesis, Department of Computer Science and Information Engineering, National Chiao-Tung University, July 2001. [4] C. H. Hwang, The Design of An Eye-On-Hand Robotic System, M.S. Thesis, Department of Opto-Mechatronics Engineering, National Chung-Cheng University, July 2003. [5] G. L. Zhong, Image Processing and Computer Vision, 2nd, Dong-Hua, Taiwan, 2004. [6] F. G. Pin and S. M. Killough, “A new family of omnidirectional and holonomic wheeled platforms for mobile robots,” IEEE Transaction on Robotics and Automation, vol.10, pp.480-489, August 1994. [7] M. J. Jung, H. S. Kim, S. Kim, and J. H. Kim, “Omni-directional mobile base OK-II,” Proceeding of the 2000 IEEE international conference on robotics and automation, San Franciso, CA, pp.3449-3454, April 2000. [8] T. Kalmár-Nagy, P. Ganguly, and R. D'andrea, “Real-time trajectory generation for omnidierectional vehicles,” Proceedings of the American Control Conference, Anchorage, AK, USA, pp.286-291, 2002. [9] R. L. Williams II, B. E. Carter, P. Gallina, and G. Rosati, “Dynamic model with slip for wheeled omnidirectional robots,” IEEE Transaction on Robotics and Automation, vol.18, no.3, pp.285-293, June 2002. [10] H. K. Khalil, Nonlinear Systems, 3rd Ed., Prentice Hall, 2002. [11] W. Carriker, P. Khosla, and B. Krogh, “An approach for coordinating mobility and manipulation,” Proceedings of IEEE International Conference on System Engineering, pp.59-63, August 1989. [12] J. Holland, Adaptation in Natural and Artificial Systems, University of Michigan Press, Ann Arbor, Michigan. 1975. [13] L. J. Eshelman, “The CHC Adaptive Search Algorithm: How to Have Safe Search When Engaging in Nontraditional Genetic Recombination,” Proceedings of the First Workshop on Foundations of Genetic Algorithms, Morgan Kaufmann, pp. 265-283. 1991 [14] C. L. Lin, H. Y. Jan and T. H. Huang, “Self-Organizing PID Control Design Based on DNA Computing Method,” Proceedings of IEEE International Conference on Control Application, Taipei, Taiwan, September 2-4, 2004. [15] C. L. Lin, Optimal Path Planning for Dynamic Platforms, M.S. Thesis, Department of Automatic Control Engineering, Feng Chia University, June 2004. [16] J. G. Kang and J. M. Lee, “A study on optimal configuration for the mobile manipulator considering the minimal movement,” Proceedings of IEEE International Symposium on Industrial Electronics, vol.2, pp.546-551, Dec. 2000. [17] H. Jack, Dynamic System Modeling and Control, 1st Ed., Prentice Hall, 1996. [18] R. E. Woods and R. C. Gonzalez, Digital Image Processing, 2nd Ed., Prentice Hall, 2002. [19] C. C. Tsai and T. S. Wang, “Nonlinear Control of an Omni-directional Wheeled Mobile Robot,” Proceedings of IEEE International Conference on Automation, Taichung, Taiwan, May 5-6, 2005. [20] Adleman, L. M., “Molecular computation of solutions to combinational problems,” Science, vol. 266, pp. 1021-1024, 1994. [21] L. B. Jiang, Point-to-Point Optimal Configuration Planning and Control of an Omnidirectional Mobile Manipulator, M.S. Thesis, Department of Electrical Engineering, National Chung-Hsing University, July 2005. [22] Holland J. H., "Adaptation in Natural and Artificial Systems", University of Michigan Press, Ann Arbor, 1975 [23] Morgan T. H., “American National Biography Online,” Oxford University Press, 2000.
本論文旨在建構一全方位行動機器人,結合全方位行動平台、物件辨識系統和機器手臂,使其能藉全方位輪迅速移動到指定位置,並經物件辨識系統判斷抓取物的3D位置,最後再由機械手臂抓取目標物;在本文中提出許多濾波器使物件辨識的效能提高,利用物體面積的比例來推算出抓取物到攝影機之間的距離,此外由運動學模型、動態模型和非線性控制法則使全方位平台能迅速且平順地任意移動。基因演算法和DNA演算法被應用來搜尋行動機器手臂從一點移動到另一點的最佳化組態,最後整體的路徑將統一規劃,使各軸能在同一時間到達各自所指定的位置。本實驗的影像辨識由準系統來完成,Nios II發展板負責控制機器手臂的移動而全方位行動平台的動作為底部的工業電腦來規劃。電腦模擬及實驗結果證實本論文所提出理論之有效性。

This thesis is devoted to constructing an omnidirectional mobile robot. Combining omnidirectional mobile platform, object recognition and manipulator makes the robot can move to any desired position and then catch the desired objective via object recognition. In this thesis, there are several functional filters to enhance the performance of the object recognition algorithm, including the median filters and the band-pass filters. The estimated distance from webcam to the desired object is obtained from the relation of the desired object's area. Besides, kinematic controllers and dynamic controllers are proposed to steer the omnidirectional mobile platform. Genetic algorithm and DNA algorithm are developed to find the near optimal configuration of the mobile manipulator moving from one point to another. Then, the integrated trajectory planning method is applied to obtain the motion trajectories for the mobile platform and all the joints of the manipulator. A barebone PC system is used to execute the object recognition algorithm, a Nios II development board is responsible for the manipulator and an industrial computer drives the omnidirectional mobile platform. Computer simulations and experimental results are included to verify the efficacy of the proposed methods.
其他識別: U0005-0308200616420500
Appears in Collections:電機工程學系所

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