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標題: 輪式行動機器人之預測視覺軌跡追蹤控制
Vision-Based Predictive Trajectory Tracking Control of a Wheeled Mobile Robot
作者: 楊瑞良
關鍵字: Predictive Control;預測控制;Trajectory Tracking Control;Vision-Based;軌跡追蹤控制;視覺系統
出版社: 電機工程學系

This thesis develops methodologies and techniques for control architecture design, trajectory tracking laws and posture estimation of a vision-based wheeled mobile robot (WMR). To solve the problem of position/orientation tracking control of the WMR, three kinematical predictive control laws are developed to manipulate the vehicle to asymptotically follow the desired trajectories. A Kalman filtering scheme is used to reduce the bad effect of the imagine nose, thereby improving the accuracy of pose estimation. The experimental system is composed of a wireless RS232 modem, an DSP-based controller 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 trajectory tracking laws. Simulation and experimental results are included to illustrate the feasibility and effectiveness of the proposed control laws.
Appears in Collections:電機工程學系所

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