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標題: 輪式行動機器人之適應非線性視覺伺服
Adaptive Nonlinear Visual Servoing of a Wheeled Mobile Robot
作者: 蔡文偉
關鍵字: wheeled mobile robot;輪式行動機器人;vision system;adaptive;nonlinear;path-tracking;視覺;適應控制;非線性控制;路徑追蹤
出版社: 電機工程學系

This thesis develops methodologies and techniques for control architecture design, path tracking laws and implementation of a vision-based wheeled mobile robot (WMR). To solve the problem of position/orientation tracking control of WMR, two novel kinematic control laws are developed to manipulate the vehicle to asymptotically follow the desired trajectories. To compensate for dynamic effects associated with the dynamic models, an adaptive nonlinear path tracking control law is designed to ensure global asymptotic path tracking for the vehicle with unknown dynamic parameters and changeable time-varying payload. The experimental system is composed of a wireless RS232 modem, an embedded-system for the wheeled mobile robot and a vision system with a host computer. A computation-effective and high-performance DSP-based controller is constructed for executing the developed sophisticated path tracking laws. Simulation and experimental results are included to illustrate the feasibility and effectiveness of the proposed control laws.
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