Visual Servo Based Tracking Control of an Omnidirectional Mobile Robot
| Autor: | Jia- Ming Shyu, 徐嘉明 |
|---|---|
| Rok vydání: | 2007 |
| Druh dokumentu: | 學位論文 ; thesis |
| Popis: | 95 This thesis use the digital signal processor and image processing methods to construct a real-time visual-servo tracking system for an omnidirectional mobile robot to achieve the trajectory tracking control. The system consists of an omnidirectional mobile robot with three motor actuators, image processing module, two image sensors, wireless transmission modules, and tracking controller. In this system, the image processing module is implemented by an FPGA device (EP1C12Q240C6, Altera). The CMOS image sensors from PixArt Technologies are used for detecting the position of the omnidirectional mobile robot. Besides, the tracking controller is implemented by a digital signal processor (TMS320F2812, TI). In the experiment, CMOS image sensors sense the position of the omnidirectional mobile robot, and then the image processing algorithm is executed by the FPGA device, and position information is sent to the omnidirectional mobile robot using wireless transmission. Finally, the trajectory tracking control is done by the computed torque and PID controller. The theoretical development is validated through the simulation and experiment. |
| Databáze: | Networked Digital Library of Theses & Dissertations |
| Externí odkaz: |
|