Image Processor and Fuzzy PID Controller Design for Robot-Car Intercept Mission

應用即時影像及模糊PID控制自走車於無線攔截任務

林穎裕(Yiing-Yuh Lin) ； 廖名揚(Ming-Young Liao)

《中國機械工程學刊》 30卷5期 (2009/10) Pp. 401-408

https://doi.org/10.29979/JCSME.200910.0005

摘要

本文之研究內容，乃設計具即時影像處理器與自調控制器整合之巧智型自走車，能夠辨識特定顏色之移動目標，並於平面上攔裁。研究所製的自走車上包括CCD照相機，結構與驅動，紅外線環境感測，無線傳輸，及微處理器與數據處理等模組。爲快速取得率確之攔裁指令，CCD照相機所照之大量影像，皆傳至固定點之監控個人電腦。經影像處理後，根據估測之目標物位置與速度，取得適當控制器參數，產生攔裁指令。控制器則結合模糊邏輯與PID控制法則，影像與攔截指令都透過無線傳輸模組傳送。電腦模擬與硬體實驗的比較，顯示二者具一致而有效的攔截結果。

並列摘要

This paper presents a study of smart robot car system which integrates a real-time image processor with an adaptable controller that can identify and intercept a moving target with specified color on a horizontal plane. The robot car built includes an on-board CCD camera, structure and power drive, infrared environment sensor, wireless transmission, and micro-controller data handling modules. To obtain fast and accurate intercept commands, large amount of target images captured by the CCD camera are transmitted to the monitoring PC at a stationary location. Through image processing technique, the position and the speed of the target are estimated to obtain proper controller parameters and to evaluate intercept signals. Fuzzy logic coupled with PID control law is applied to design the controller. Both the target image and the control signal are received from and transmitted to the robot car via wireless communication hardware. Computer simulation and hardware experiment of the test case included demonstrate effective and compatible results for the designed system.

並列關鍵字

robot-car ； real-time image processor ； wireless transmission ； fuzzy PID control