基於影像之多部自動導航車隊型維持控制

Multiple Automatic Guided Vehicles Formation Control Based on Real-time Image

朱晏良(Yan-Liang Ju)

指導教授 ： 姚立德

國立臺北科技大學/機電學院/自動化科技研究所/碩士(2009年)

https://doi.org/10.6841/NTUT.2009.00251

摘要

本論文提出一種基於影像處理之多車隊形維持控制系統。在整個控制系統的架構裡主要可以分為兩個部份；第一部份，本論文採用的隊形控制架構是屬於分散式的合作控制，隊伍中的跟隨車經由感測器得知前導車的相對位置及速度資訊後自行做維持隊形的控制運算，因此論文中設計出一個圓柱體標的物，置於前導車的中心位置，跟隨車經由CCD攝影機處理抓取標的物上的許多不同的線段資訊，可以用來得知與前導車的相對距離、隊形角度及車頭方向的相對角度，以作為隊形控制器的輸入資訊。第二部份，經由隊伍中前導車與跟隨車相對座標的位置換算，本論文採用一套車體運動方程式結合模糊控制理論，來控制跟隨車的線性速度以及轉角速度，以達到應維持隊形的位置。最後，用三台自動導航車以實際實驗來印證本論文之可行性。

關鍵字

自動導航車 ； 影像處理 ； 模糊控制

並列摘要

This thesis presents a control system to maintain the formation of multiple mobile vehicles based on image processing technique. The design of the control system consists of two main parts. In the first part, a method known as the Distributed Cooperative Control is used so that the formation control of a group of mobile vehicles depends on obtaining information of a leader that moves ahead of the group of followers. The obtained information enables the group of followers to follow the movement of the leader. With this information, the position and moving speed of the leader, the outputs for a controller that resides on each of the mobile vehicles that do the stalking can be generated. Therefore, this paper also designs a cylindrical object that is placed on top the leader and in center position so that the leader can be identified by its followers installed with CCD cameras. The images taken by the CCD cameras enable the relative distance, the relative angle of the front direction, the absolute leader speed, and the linear speed of rotation from the formation point of view to be calculated. In the second section, a relative coordinate system is formed using the aforementioned information to give the location of the followers with respect to the leader based on vehicle movement equations. In this paper, a combination of vehicle movement equations and fuzzy control theories is used to control the linear and rotational speed of the followers. Finally, the feasibility of the methods proposed in this thesis is proven by the results of our experiment. The results show three mobile vehicles navigating successfully in a triangular formation.

並列關鍵字

Automatic Guided Vehicl ； Image Processing ； Fuzzy Control

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