基於影像之自動導航車追隨控制

Vision Based Tracking Control for Automatic Guided Vehicles

黃世達(Shih-Ta Huang)

指導教授 ： 姚立德

國立臺北科技大學/電資學院/電機工程系所/碩士(2008年)

https://doi.org/10.6841/NTUT.2008.00091

摘要

本論文提出一種基於高斯模型之目標物顏色偵測演算法，在目標物追隨過程中，可以因應周圍光源的變動來調整其目標物顏色偵測的直方圖模型。其偵測方式是以線式雷射光器在目標物上的投射及三角幾何關係辨識環境中的目標物，最後再以此目標物的顏色資訊當作所要追蹤的色彩模型，此色彩模型會隨著每次取樣時刻的光源而更新，可提高偵測系統的穩定性。
而在自動導航車的控制器設計方面，本論文另提出一種基於模糊控制器調變車體運動方程式參數的方法，控制自動導航車得以平滑地追隨前方移動中的目標物。系統主要是利用模糊速度控制器及模糊方向控制器調變車體運動方程式的參數，分別控制車體左右兩輪的速度，使得自動導航車可以更快速、更平穩且維持固定的安全距離跟隨目標物。

關鍵字

自動導航車 ； 模糊控制器 ； 影像處理

並列摘要

This thesis proposes a detection algorithm of object’s color based on Gaussian Model. When tracking the object, the algorithm can adjust its histogram model in respect of object’s color detection according to the variation of surrounding light. By projecting a laser marker onto the object in the environment, such object therefore can be identified through trigonometric calculation. Finally, the color information of such object can be taken as the color model for tracking. This color model will be updated by the light source at each moment of sampling, which helps enhance the stability of detection system.
As for the controller design of automatic guided vehicle(AGV), this thesis proposes another method to adjust parameters for the vehicle equation of motion based on a fuzzy controller, which can control the AGV to smoothly follow the moving object ahead. This system mainly utilizes the fuzzy speed controller and fuzzy steering controller to adjust parameters for the vehicle equation of motion, and respectively to control the speed of left and right wheels. This allows the AGV to follow the object in a faster and more stable manner as well as to maintain a fixed safety distance.

並列關鍵字

Automatic Guided Vehicle ； Fuzzy Controller ； Image Processing.

參考文獻

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