視覺運動控制的兩輪平衡車設計

兩輪平衡車是一個非線性且欠致動的系統，本論文分為三個部分，第一部分考慮兩輪平衡車的硬體設計，第二部分是設計控制方法控制兩輪平衡車，第三部分為兩輪平衡車的視覺基礎回授控制系統開發。在第一部份，本論文結合了STM32F446RE Nucleo實驗板與Raspberry Pi 樹莓派4，開發了一台具有影像處理能力的兩輪平衡車。在第二部份，本論文利用全狀態回授控制與PD串聯控制，分別設計了位置模式與速度模式的兩輪平衡車移動控制系統，也增加了PS2的遠端遙控功能。在第三部份，本論文透過Raspberry Pi 樹莓派4做相關的影像處理後，將所得到之資訊傳送至STM32F446RE Nucleo實驗板中，開發出智慧型防撞與智慧型物品追蹤等功能之視覺回授控制系統。最後，經由一些實驗場景規劃設計後，實驗結果均證明本論文所提出的控制系統架構之可行性與可靠性。

關鍵字

兩輪平衡車；平衡控制；移動控制；視覺回授控制

並列摘要

The two-wheel balance robot is a nonlinear and unactuated system. This thesis is divided into three parts. The first part considers the hardware design of the two-wheel balance robot. The second part is to design the control method to control the two-wheel balance robot. The third part is the development of the visual-based feedback control system for the two-wheeled balance robot. In the first part of this thesis, a STM32F446RE Nucleo board and a Raspberry Pi 4 board are combined to develop a two-wheeled balance robot with image processing capabilities. In the second part of this thesis, full-state feedback control and PD control are utilized to design a position-mode and speed-mode movement control system for the two-wheeled balance robot, and also increase the remote control function of PS2. In the third part of this thesis, after the related image processing is done through the Raspberry Pi 4, the obtained image information is sent to the STM32F446RE Nucleo board to develop intelligent avoidance and intelligent object tracking functions. Finally, after planning and designing some experimental scenarios, the experimental results show the feasibility and effectiveness of the system architecture proposed in this thesis.